ResearchBenchmarksOffline Goal-Conditioned Reinforcement Learning on OGBench humanoidmaze-giant-navigateFollow12Success RateHIQL-0.482.7669.24May 20, 2026Evaluation ResultsMethodMethodLinksSuccess RateHIQLdual_analogy=falsedual_analogy=false2026.0512HIQLdual_analogy=truedual_analogy=true2026.0510CTAdual_analogy=truedual_analogy=true2026.055CRLdual_analogy=falsedual_analogy=false2026.053CRLdual_analogy=truedual_analogy=true2026.053GCIVLdual_analogy=falsedual_analogy=false2026.050GCIVLdual_analogy=truedual_analogy=true2026.050