Offline Reinforcement Learning on D4RL Walker2d Medium v2
95.5Normalized ReturnPhyB
Evaluation results
| Method | Links | |
|---|---|---|
| PhyBModel category=Model-based2026.05 | 95.5 | |
| PMDBN=10, k=22022.10 | 94.2 | |
| PMDBModel category=Model-based2026.05 | 94.2 | |
| ADMModel category=Model-based2026.05 | 93.2 | |
| EDAC2022.10 | 92.5 | |
| DMGModel category=Model-free2026.05 | 92.4 | |
| Uncertainty-Aware Rank-One MIMO Q Network2026.02 | 92.2 | |
| CPED2023.01 | 90.2 | |
| PBRL2026.02 | 89.6 | |
| EPQModel category=Model-free2026.05 | 87.8 | |
| EDAC-102026.02 | 87.6 | |
| SPOT2022.02 | 86.4 | |
| SPOT2023.01 | 86.4 | |
| RAMBOModel category=Model-based2026.05 | 84.9 | |
| TD3+BC2022.02 | 83.7 | |
| TD3+BC2023.01 | 83.7 | |
| TD3-BC2026.02 | 83.7 | |
| Trajectory Transformerdiscretization=quantile2021.06 | 82.6 | |
| Onestep2022.02 | 81.8 | |
| Onestep RL2023.01 | 81.8 | |
| Trajectory Transformerdiscretization=uniform2021.06 | 81.3 | |
| BRAC2021.06 | 81.1 | |
| GACStrategy=Exploitation query (GAC-E[y])2025.12 | 80.2 | |
| TD3+BCModel category=Model-free2026.05 | 79.7 | |
| CQL2022.10 | 79.5 | |
| CQLModel category=Model-free2026.05 | 79.5 | |
| Trajectory Transformerdiscretization=uniform2021.06 | 79.4 | |
| Trajectory Transformerdiscretization=quantile2021.06 | 79 | |
| GACStrategy=Exploration query (GAC-p(y+))2025.12 | 78.9 | |
| GACStrategy=Fixed target steering (GAC-y*)2025.12 | 78.5 | |
| IQL2022.02 | 78.3 | |
| IQL2023.01 | 78.3 | |
| IQL2026.02 | 78.3 | |
| IQL2026.05 | 78.3 | |
| MOReL2023.11 | 77.8 | |
| LPT2025.12 | 77.8 | |
| Behavior Cloning2021.06 | 77.3 | |
| CQL2021.06 | 77.2 | |
| Gemma-DTSeed=s2024, Peak iter=60k2026.05 | 77.1 | |
| Gemma-DTSeed=mean ± std2026.05 | 76.2 | |
| Gemma-DTSeed=s42, Peak iter=20k2026.05 | 75.8 | |
| GACStrategy=Sampling from prior (p(y|z)p(z))2025.12 | 75.6 | |
| Gemma-DTSeed=s1337, Peak iter=80k2026.05 | 75.6 | |
| UWAV2026.02 | 75.4 | |
| BC2022.02 | 75.3 | |
| BC2023.01 | 75.3 | |
| Decision Transformer2021.06 | 74 | |
| DT2022.02 | 74 | |
| DT2023.01 | 74 | |
| Chen 2021 DTTrainable parameters=~1.2M2026.05 | 74 | |
| CQL2026.02 | 73.3 | |
| MOReL2022.10 | 72.8 | |
| MOReLModel category=Model-based2026.05 | 72.8 | |
| CQL2021.06 | 72.5 | |
| CQL2022.02 | 72.5 | |
| CQL2023.01 | 72.5 | |
| CQL2026.05 | 72.5 | |
| AWAC2022.02 | 72.4 | |
| AWAC2023.01 | 72.4 | |
| TAILO2023.11 | 71.7 | |
| BC2022.10 | 70.9 | |
| DROCOShift Type=Kinematic2025.12 | 70.8 | |
| DT2025.12 | 69.9 | |
| Decision Transformer2021.06 | 66.6 | |
| BC2026.05 | 63.9 | |
| QDT2025.12 | 63.7 | |
| BEAR2022.10 | 59.8 | |
| BRAC2022.10 | 59.7 | |
| IGDFShift Type=Kinematic2025.12 | 51.8 | |
| IQL2025.12 | 49.1 | |
| IQLShift Type=Kinematic2025.12 | 48.7 | |
| CQLShift Type=Kinematic2025.12 | 47.7 | |
| BCQ2026.02 | 47.7 | |
| BOSAShift Type=Kinematic2025.12 | 44.5 | |
| DARAShift Type=Kinematic2025.12 | 43.4 | |
| OTDFShift Type=Kinematic2025.12 | 43 | |
| MOPO2026.02 | 41.2 | |
| MBOP2021.06 | 41 | |
| Behavior Cloning2021.06 | 36.9 | |
| MOPO2023.11 | 17.8 | |
| MBOP2021.06 | 9.7 | |
| FQLModel category=Model-free2026.05 | 9.5 | |
| BRAC2021.06 | 0.9 | |
| CQL2025.12 | 0 | |
| BEAR2026.02 | -0.2 |