ResearchBenchmarksLocomotion on D4RL walker2d medium v2Locomotion on D4RL walker2d medium v2Follow102.9Normalized ReturnSPAARS77.31683.95890.697.242Mar 10, 2026Evaluation resultsMethodMethodLinksNormalized ReturnSPAARSEnvironment steps=300k...Environment steps=300k, Number of seeds=32026.03102.9IQLEnvironment steps=300k...Environment steps=300k, Number of seeds=32026.0378.3