ResearchBenchmarksOffline Imitation Learning on D4RL MuJoCo reward-free v2 (m, mr, me)Follow54.5Hopper-v2 (m)SMODICE42.95645.95348.9551.947Jun 26, 2023Evaluation ResultsMethodMethodLinksHopper-v2 (m)Hopper-v2 (mr)Hopper-v2 (me)Halfcheetah-v2 (m)Halfcheetah-v2 (mr)Halfcheetah-v2 (me)Walker2d-v2 (m)Walker2d-v2 (mr)Walker2d-v2 (me)Ant-v2 (m)Ant-v2 (mr)Ant-v2 (me)Total Score SumSMODICE2023.0654.526.473.742.737.966.260.638.570.985.768.3116.3741.7CEIL2023.0654.251.490.443.540.147.778.520.51109767.8120.5821.7ORILBackbone=TD3+BCBackbone=TD3+BC2023.0643.425.77344.92.481.858.916.878.233.729.667.1555.4