ResearchBenchmarksOffline Planning on Maze2D U-Maze single-task D4RLOffline Planning on Maze2D U-Maze single-task D4RLFollow109.5Normalized Avg ReturnRGG+1.54829.57457.685.626Oct 30, 2023Evaluation resultsMethodMethodLinksNormalized Avg ReturnRGG+Base Model=DiffuserBase Model=Diffuser2023.10109.5RGGBase Model=DiffuserBase Model=Diffuser2023.10108.8Diffuser2023.10108.6IQL2023.1047.4MPPI2023.1033.2CQL2023.105.7