ResearchBenchmarksMulti-task Offline Planning on Multi2D Large multi-task D4RLMulti-task Offline Planning on Multi2D Large multi-task D4RLFollow150.9Normalized Avg ReturnRGG+2.28440.86779.45118.033Oct 30, 2023Evaluation resultsMethodMethodLinksNormalized Avg ReturnRGG+Base Model=DiffuserBase Model=Diffuser2023.10150.9RGGBase Model=DiffuserBase Model=Diffuser2023.10148.3Diffuser2023.10141.2IQL2023.1013.9MPPI2023.108