ResearchBenchmarksMulti-task Offline Planning on Multi2D Medium multi-task D4RLMulti-task Offline Planning on Multi2D Medium multi-task D4RLFollow130.1Normalized Average ReturnDiffuser7.3839.2471.1102.96Oct 30, 2023Evaluation resultsMethodMethodLinksNormalized Average ReturnDiffuser2023.10130.1RGGBase Model=DiffuserBase Model=Diffuser2023.10130RGG+Base Model=DiffuserBase Model=Diffuser2023.10130MPPI2023.1015.4IQL2023.1012.1