ResearchBenchmarksMaze Navigation on maze2d medium v1Follow166.8D4RL ScoreInverter128.632138.541148.45158.359May 22, 2026Evaluation ResultsMethodMethodLinksD4RL ScoreNN Forward Passes per EpisodeLatency (ms)InverterK (one-shot configurat...K (one-shot configuration)=16, Hardware=single A40 GPU, Software framework=PyTorch, Batch size=1, CUDA-synced=true2026.05166.83872.9Diffuser2026.05130.1——BC-10%Software framework=PyT...Software framework=PyTorch2026.05—600749.8