# Offline Reinforcement Learning on D4RL Adroit pen v0 (cloned) Source: [Offline Reinforcement Learning on D4RL Adroit pen v0 (cloned)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:53:42.017Z Evaluation of Offline Reinforcement Learning performance specifically on the D4RL Adroit 'pen' environment configuration using the cloned v0 dataset. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Offline Reinforcement Learning | | Dataset (including any stated split) | D4RL Adroit pen v0 (cloned) | | Metric | Normalized Avg Return | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 17 of 17 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Normalized Avg Return](): Higher is better; unit: PERCENT. ## Recorded results | Method | Normalized Avg Return | Result date | Report paper | | --- | --- | --- | --- | | DPPO | 75.1 | Not recorded | 68fa71091e209131cea4eca7 | | EDAC | 68.2 | Not recorded | 68fa6aec1e209131cea2b133 | | Easy BCQ | 67 | Not recorded | 68fa6b631e209131cea2df51 | | SAC-N | 64.1 | Not recorded | 68fa6aec1e209131cea2b133 | | Fu et al. | 56.9 | Not recorded | 68fa6b631e209131cea2df51 | | Rev. KL Reg. | 55.3 | Not recorded | 68fa6b631e209131cea2df51 | | Exp. Weight | 54.7 | Not recorded | 68fa6b631e209131cea2df51 | | BC | 49.3 | Not recorded | 68fa6b631e209131cea2df51 | | PT+IQL | 42.9 | Not recorded | 68fa71091e209131cea4eca7 | | CQL | 40.3 | Not recorded | 68fa6aec1e209131cea2b133 | | BC | 38.3 | Not recorded | 68fa6aec1e209131cea2b133 | | PT+%BC | 37.4 | Not recorded | 68fa71091e209131cea4eca7 | | CQL | 27.2 | Not recorded | 68fa6aec1e209131cea2b133 | | PT+CQL | 18.3 | Not recorded | 68fa71091e209131cea4eca7 | | SAC | -0.8 | Not recorded | 68fa6aec1e209131cea2b133 | | REM | -1 | Not recorded | 68fa6aec1e209131cea2b133 | | PT+RvS | -2.2 | Not recorded | 68fa71091e209131cea4eca7 | ### DPPO Normalized Avg Return: 75.1. Result ID: 69918eee3a6c31484908f8ff. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Framework":"Preference Transformer (PT)"}. This record does not assert independent reproduction. ### EDAC Normalized Avg Return: 68.2. Result ID: 698e41bbffc3901de09c1211. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Implementation Source":"Ours"}. This record does not assert independent reproduction. ### Easy BCQ Normalized Avg Return: 67. Result ID: 698e85bcffc3901de09e51a4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Algorithmic Template":"One-step"}. This record does not assert independent reproduction. ### SAC-N Normalized Avg Return: 64.1. Result ID: 698e41bbffc3901de09c1210. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Implementation Source":"Ours"}. This record does not assert independent reproduction. ### Fu et al. Normalized Avg Return: 56.9. Result ID: 698e85bcffc3901de09e51a2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Algorithmic Template":"Iterative"}. This record does not assert independent reproduction. ### Rev. KL Reg. Normalized Avg Return: 55.3. Result ID: 698e85bcffc3901de09e51a5. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Algorithmic Template":"One-step"}. This record does not assert independent reproduction. ### Exp. Weight Normalized Avg Return: 54.7. Result ID: 698e85bcffc3901de09e51a6. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Algorithmic Template":"One-step"}. This record does not assert independent reproduction. ### BC Normalized Avg Return: 49.3. Result ID: 698e85bcffc3901de09e51a3. [Reporting paper]() Recorded evaluation configuration: {"Algorithmic Template":"One-step"}. This record does not assert independent reproduction. ### PT+IQL Normalized Avg Return: 42.9. Result ID: 69918eee3a6c31484908f8fe. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"Preference Transformer (PT)"}. This record does not assert independent reproduction. ### CQL Normalized Avg Return: 40.3. Result ID: 698e41bbffc3901de09c120e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Implementation Source":"Paper"}. This record does not assert independent reproduction. ### BC Normalized Avg Return: 38.3. Result ID: 698e41bbffc3901de09c120b. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PT+%BC Normalized Avg Return: 37.4. Result ID: 69918eee3a6c31484908f8fb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"Preference Transformer (PT)"}. This record does not assert independent reproduction. ### CQL Normalized Avg Return: 27.2. Result ID: 698e41bbffc3901de09c120f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Implementation Source":"Reproduced"}. This record does not assert independent reproduction. ### PT+CQL Normalized Avg Return: 18.3. Result ID: 69918eee3a6c31484908f8fd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"Preference Transformer (PT)"}. This record does not assert independent reproduction. ### SAC Normalized Avg Return: -0.8. Result ID: 698e41bbffc3901de09c120c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### REM Normalized Avg Return: -1. Result ID: 698e41bbffc3901de09c120d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PT+RvS Normalized Avg Return: -2.2. Result ID: 69918eee3a6c31484908f8fc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"Preference Transformer (PT)"}. 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