# Offline Reinforcement Learning on D4RL (MuJoCo M/MR/ME & Adroit/Kitchen Subset)

Source: [Offline Reinforcement Learning on D4RL (MuJoCo M/MR/ME & Adroit/Kitchen Subset)](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-19T08:51:24.275Z

Evaluation of Offline Reinforcement Learning performance on D4RL environments, specifically reporting scores for MuJoCo tasks across Medium (M), Medium-Replay (MR), and Medium-Expert (ME) settings, alongside Human/Cloned results for Adroit tasks (Pen, Hammer, Door) and specific Kitchen configurations.

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 |
| Metric | Walker2d (Medium Expert) Score |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 11 of 11 |
| 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

- [Walker2d (Medium Expert) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Walker2d%20(Medium%20Expert)%20Score>): Higher is better; unit: SCALAR.

- [Walker2d (Medium) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Walker2d%20(Medium)%20Score>): Higher is better; unit: SCALAR.

- [Walker2d (Medium Replay) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Walker2d%20(Medium%20Replay)%20Score>): Higher is better; unit: SCALAR.

- [Hopper (Medium Expert) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Hopper%20(Medium%20Expert)%20Score>): Higher is better; unit: SCALAR.

- [Hopper (Medium) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Hopper%20(Medium)%20Score>): Higher is better; unit: SCALAR.

- [Hopper (Medium Replay) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Hopper%20(Medium%20Replay)%20Score>): Higher is better; unit: SCALAR.

- [HalfCheetah (Medium Expert) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=HalfCheetah%20(Medium%20Expert)%20Score>): Higher is better; unit: SCALAR.

- [HalfCheetah (Medium) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=HalfCheetah%20(Medium)%20Score>): Higher is better; unit: SCALAR.

- [HalfCheetah (Medium Replay) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=HalfCheetah%20(Medium%20Replay)%20Score>): Higher is better; unit: SCALAR.

- [Pen (Human) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Pen%20(Human)%20Score>): Higher is better; unit: SCALAR.

- [Pen (Cloned) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Pen%20(Cloned)%20Score>): Higher is better; unit: SCALAR.

- [Hammer (Human) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Hammer%20(Human)%20Score>): Higher is better; unit: SCALAR.

- [Hammer (Cloned) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Hammer%20(Cloned)%20Score>): Higher is better; unit: SCALAR.

- [Door (Human) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Door%20(Human)%20Score>): Higher is better; unit: SCALAR.

- [Door (Cloned) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Door%20(Cloned)%20Score>): Higher is better; unit: SCALAR.

- [Kitchen (Complete) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Kitchen%20(Complete)%20Score>): Higher is better; unit: SCALAR.

- [Kitchen (Mixed) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Kitchen%20(Mixed)%20Score>): Higher is better; unit: SCALAR.

- [Kitchen (Partial) Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Kitchen%20(Partial)%20Score>): Higher is better; unit: SCALAR.

- [Overall Average Score](<https://www.sota2.com/research/sota/offline-reinforcement-learning-on-d4rl-mujoco-m-mr-me-and-adroit-kitchen-subset.md?metric=Overall%20Average%20Score>): Higher is better; unit: SCALAR.

## Recorded results

| Method | Walker2d (Medium Expert) Score | Result date | Report paper |
| --- | --- | --- | --- |
| ICQL | 113.3 | Not recorded | 68fa7bb51e209131cea8a0fb |
| IQL | 109.8 | Not recorded | 68fa7bb51e209131cea8a0fb |
| DMG | 109.5 | Not recorded | 68fa7bb51e209131cea8a0fb |
| TD3BC | 109.2 | Not recorded | 68fa7bb51e209131cea8a0fb |
| ReBRAC | 109.2 | Not recorded | 68fa7bb51e209131cea8a0fb |
| RADT | 107.8 | Not recorded | 68fa7bb51e209131cea8a0fb |
| BC | 107.5 | Not recorded | 68fa7bb51e209131cea8a0fb |
| QC | 102.8 | Not recorded | 68fa7bb51e209131cea8a0fb |
| FQL | 101 | Not recorded | 68fa7bb51e209131cea8a0fb |
| CQL | 98.7 | Not recorded | 68fa7bb51e209131cea8a0fb |
| DT | 70.7 | Not recorded | 68fa7bb51e209131cea8a0fb |

### ICQL

Walker2d (Medium Expert) Score: 113.3. Result ID: 69bbb90947f34ce924a5afb9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### IQL

Walker2d (Medium Expert) Score: 109.8. Result ID: 69bbb90947f34ce924a5afb2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6af71e209131cea2b67f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### DMG

Walker2d (Medium Expert) Score: 109.5. Result ID: 69bbb90947f34ce924a5afb6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75aa1e209131cea692b2.md>)

[Implementation](<https://github.com/maoyixiu/DMG>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### TD3BC

Walker2d (Medium Expert) Score: 109.2. Result ID: 69bbb90947f34ce924a5afb0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b631e209131cea2df4f.md>)

[Implementation](<https://github.com/sfujim/TD3_BC>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### ReBRAC

Walker2d (Medium Expert) Score: 109.2. Result ID: 69bbb90947f34ce924a5afb5.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70f71e209131cea4e71b.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### RADT

Walker2d (Medium Expert) Score: 107.8. Result ID: 69bbb90947f34ce924a5afb4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a991e209131cea8423b.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### BC

Walker2d (Medium Expert) Score: 107.5. Result ID: 69bbb90947f34ce924a5afaf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### QC

Walker2d (Medium Expert) Score: 102.8. Result ID: 69bbb90947f34ce924a5afb8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a0f1e209131cea80d8d.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### FQL

Walker2d (Medium Expert) Score: 101. Result ID: 69bbb90947f34ce924a5afb7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78c51e209131cea7a67a.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### CQL

Walker2d (Medium Expert) Score: 98.7. Result ID: 69bbb90947f34ce924a5afb1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682a1e209131cea1a6c2.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### DT

Walker2d (Medium Expert) Score: 70.7. Result ID: 69bbb90947f34ce924a5afb3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a381e209131cea26b46.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.