ResearchBenchmarksOffline Reinforcement Learning on D4RL halfcheetah-random morphology shiftFollow0.067Normalized ScoreIQL0.018120.030810.04350.05619Dec 2, 2025Evaluation ResultsMethodMethodLinksNormalized ScoreIQL2025.120.067IGDF2025.120.049DVDF-IGDF2025.120.048DARA2025.120.029BOSA2025.120.022OTDF2025.120.022DVDF-OTDF2025.120.02