Offline Reinforcement Learning on D4RL Gym
35.6Return (Hopper, Random)SPQR-SAC-Min
Evaluation Results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SPQR-SAC-Min2024.01 | 35.6 | 89.6 | — | — | — | — | 100.2 | 104.9 | 112.5 | 24.6 | 98.4 | 87.8 | 118.2 | 115.2 | 101.1 | 33.5 | 74.8 | 112.8 | 114 | 69.7 | 88.5 | 112 | 109.1 | — | |
| SAC-Min2024.01 | 31.3 | 84.5 | — | — | — | — | 100.3 | 101.8 | 110.1 | 21.7 | 87.9 | 78.7 | 116.7 | 116.7 | 94.6 | 28 | 67.5 | 105.2 | 107.1 | 63.9 | 84.5 | 110.3 | 102.9 | — | |
| EDAC2024.01 | 25.3 | 85.2 | — | — | — | — | 101.6 | 101 | 110.7 | 16.6 | 92.5 | 87.1 | 114.7 | 115.1 | 99.8 | 28.4 | 65.9 | 106.8 | 106.3 | 61.3 | 84.6 | 110.1 | 105.4 | — | |
| SAC-RND2026.03 | 19.6 | 82.6 | — | — | — | — | 91.1 | 97.2 | 109.8 | — | 92.7 | 89.4 | 104.6 | 104.5 | 105.3 | 27.6 | 66.4 | 102.6 | 108.1 | 51.2 | 81.2 | 109.8 | 107.4 | 18.7 | |
| CQL2021.11 | 10.8 | — | 35.4 | 44.4 | 42 | 62.4 | 58 | 29.5 | 111 | 7 | 79.2 | 21.1 | 98.7 | — | — | — | — | — | — | — | — | — | — | — | |
| S4RL-(N)Augmentation=Normal2021.11 | 10.8 | — | 52.3 | 48.8 | 51.4 | 79 | 78.9 | 35.4 | 113.5 | 24.9 | 93.6 | 30.3 | 112.2 | — | — | — | — | — | — | — | — | — | — | — | |
| S4RL-(Adv)Augmentation=Adversarial2021.11 | 10.7 | — | 53.9 | 48.6 | 51.7 | 78.1 | 81.3 | 36.8 | 117.9 | 25.1 | 93.1 | 35 | 107.1 | — | — | — | — | — | — | — | — | — | — | — | |
| KFC++2021.11 | 10.7 | — | 49.2 | 59.1 | 58.9 | 79.8 | 94.2 | 49 | 125.5 | 17.6 | 108 | 46.1 | 115.3 | — | — | — | — | — | — | — | — | — | — | — | |
| KFC2021.11 | 10.4 | — | 48.6 | 55.9 | 58.1 | 79.9 | 90.6 | 48.6 | 121 | 19.1 | 102.1 | 48 | 114 | — | — | — | — | — | — | — | — | — | — | — | |
| IQL2026.03 | 10.1 | 72.9 | — | — | — | — | 65.2 | 89.6 | 85.5 | — | 80.7 | 75.4 | 112.1 | 96.9 | 97.5 | 19.5 | 50 | 95.5 | 92.7 | 42.1 | 75 | 108.8 | 104.4 | 11.3 | |
| ReBRAC2026.03 | 8.56 | 81.53 | — | — | — | — | 102.05 | 95.82 | 105.7 | — | 84.78 | 80.67 | 111.81 | 112.15 | 100.16 | 29.59 | 65.87 | 105.22 | 100.29 | 50.21 | 82.19 | 104.73 | 107.49 | 20.22 | |
| MPCwDWMpre-trained policy=ReBRAC2026.03 | 8.56 | 85.33 | — | — | — | — | 103.38 | 103.14 | 107.42 | — | 88.91 | 95.87 | 115.76 | 116.65 | 105.76 | 29.9 | 70.05 | 106.14 | 105.35 | 59.89 | 85.149 | 105.06 | 108.77 | 20.22 | |
| TD3+BC2026.03 | 8.5 | 70.3 | — | — | — | — | 60.9 | 55.1 | 87.8 | — | 77.7 | 68 | 110.4 | 110 | 90.3 | 30.9 | 54.7 | 93.4 | 89.1 | 45 | 75 | 109.6 | 97.9 | 2 | |
| CQL-Min2024.01 | 7 | 70.9 | — | — | — | — | 86.6 | 48.6 | 111 | 7 | 74.5 | 32.6 | 98.7 | 121.6 | 98.96 | 35.4 | 44.4 | 104.8 | 62.4 | 46.2 | 82.07 | 109.9 | 104.85 | — | |
| CQL2026.03 | 5.3 | 73.6 | — | — | — | — | 61.9 | 86.3 | 96.9 | — | 79.5 | 76.8 | 109.1 | 109.3 | 94.2 | 31.1 | 46.9 | 97.3 | 95 | 45.3 | 76.9 | 106.5 | 101.9 | 5.1 | |
| BC2024.01 | 3.7 | 49.9 | — | — | — | — | 54.1 | 16.6 | 53.9 | 1.3 | 70.9 | 20.3 | 90.1 | 108.7 | 68.8 | 2.2 | 43.2 | 91.8 | 44 | 37.6 | 62.9 | 107.7 | 19.9 | — |