ResearchBenchmarksLong horizon planning on Maze2D MediumFollow159.3Normalized ReturnRDM-1.17240.48982.15123.811Oct 14, 2023Evaluation ResultsMethodMethodLinksNormalized ReturnRDM2023.10159.3Diffuser2023.10121.5IQL2023.1034.9BCQ2023.108.3CQL2023.105