ResearchBenchmarksOffline Goal-Conditioned Reinforcement Learning on OGBench humanoidmaze-medium-navigateOffline Goal-Conditioned Reinforcement Learning on OGBench humanoidmaze-medium-navigateFollow90Success RateCTA24.4841.4958.575.51May 20, 2026Evaluation resultsMethodMethodLinksSuccess RateCTAdual_analogy=truedual_analogy=true2026.0590HIQLdual_analogy=falsedual_analogy=false2026.0589HIQLdual_analogy=truedual_analogy=true2026.0589CRLdual_analogy=falsedual_analogy=false2026.0560CRLdual_analogy=truedual_analogy=true2026.0557GCIVLdual_analogy=truedual_analogy=true2026.0529GCIVLdual_analogy=falsedual_analogy=false2026.0527