# Offline Reinforcement Learning on MuJoCo HalfCheetah Friction shift Source: [Offline Reinforcement Learning on MuJoCo HalfCheetah Friction shift]() Collection index: [llms.txt]() Data updated: 2026-05-26T09:18:41.823Z Evaluation of Offline Reinforcement Learning performance on the MuJoCo HalfCheetah environment configured with a friction shift perturbation, measured by Normalized Score. 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) | MuJoCo HalfCheetah Friction shift | | Metric | Normalized Score | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 32 of 32 | | 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 Score](): Higher is better; unit: SCALAR. ## Recorded results | Method | Normalized Score | Result date | Report paper | | --- | --- | --- | --- | | CEDGE-Planner | 72.13 | Not recorded | 6a15290fdbd7150506f7de50 | | Diffuser | 71.25 | Not recorded | 6a15290fdbd7150506f7de50 | | IQL | 69.8 | Not recorded | 6a15290fdbd7150506f7de50 | | MOBODY | 69.54 | Not recorded | 6a15290fdbd7150506f7de50 | | BOSA | 68.93 | Not recorded | 6a15290fdbd7150506f7de50 | | CEDGE-Policy | 68.56 | Not recorded | 6a15290fdbd7150506f7de50 | | DARA | 64.89 | Not recorded | 6a15290fdbd7150506f7de50 | | CEDGE-Policy | 64.31 | Not recorded | 6a15290fdbd7150506f7de50 | | MOBODY | 59.2 | Not recorded | 6a15290fdbd7150506f7de50 | | MOBODY | 57.53 | Not recorded | 6a15290fdbd7150506f7de50 | | CEDGE-Policy | 52.06 | Not recorded | 6a15290fdbd7150506f7de50 | | MOBODY | 50.02 | Not recorded | 6a15290fdbd7150506f7de50 | | TD3-BC | 49.43 | Not recorded | 6a15290fdbd7150506f7de50 | | CEDGE-Policy | 49.15 | Not recorded | 6a15290fdbd7150506f7de50 | | CEDGE-Planner | 47.93 | Not recorded | 6a15290fdbd7150506f7de50 | | Diffuser | 46.91 | Not recorded | 6a15290fdbd7150506f7de50 | | BOSA | 46.53 | Not recorded | 6a15290fdbd7150506f7de50 | | DARA | 46.25 | Not recorded | 6a15290fdbd7150506f7de50 | | IQL | 46.04 | Not recorded | 6a15290fdbd7150506f7de50 | | IQL | 44.96 | Not recorded | 6a15290fdbd7150506f7de50 | | BOSA | 44.07 | Not recorded | 6a15290fdbd7150506f7de50 | | TD3-BC | 43.51 | Not recorded | 6a15290fdbd7150506f7de50 | | DARA | 40.06 | Not recorded | 6a15290fdbd7150506f7de50 | | TD3-BC | 35.83 | Not recorded | 6a15290fdbd7150506f7de50 | | CEDGE-Planner | 32.79 | Not recorded | 6a15290fdbd7150506f7de50 | | Diffuser | 32.11 | Not recorded | 6a15290fdbd7150506f7de50 | | IQL | 26.39 | Not recorded | 6a15290fdbd7150506f7de50 | | DARA | 23.69 | Not recorded | 6a15290fdbd7150506f7de50 | | BOSA | 12.53 | Not recorded | 6a15290fdbd7150506f7de50 | | Diffuser | 10.7 | Not recorded | 6a15290fdbd7150506f7de50 | | CEDGE-Planner | 10.55 | Not recorded | 6a15290fdbd7150506f7de50 | | TD3-BC | 8.95 | Not recorded | 6a15290fdbd7150506f7de50 | ### CEDGE-Planner Normalized Score: 72.13. Result ID: 6a156524fbc373592c0d14be. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.5"}. This record does not assert independent reproduction. ### Diffuser Normalized Score: 71.25. Result ID: 6a156524fbc373592c0d14bd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.5"}. This record does not assert independent reproduction. ### IQL Normalized Score: 69.8. Result ID: 6a156524fbc373592c0d14b9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.5"}. This record does not assert independent reproduction. ### MOBODY Normalized Score: 69.54. Result ID: 6a156524fbc373592c0d14bc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.5"}. This record does not assert independent reproduction. ### BOSA Normalized Score: 68.93. Result ID: 6a156524fbc373592c0d14b8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.5"}. This record does not assert independent reproduction. ### CEDGE-Policy Normalized Score: 68.56. Result ID: 6a156524fbc373592c0d14cf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"5.0"}. This record does not assert independent reproduction. ### DARA Normalized Score: 64.89. Result ID: 6a156524fbc373592c0d14bb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.5"}. This record does not assert independent reproduction. ### CEDGE-Policy Normalized Score: 64.31. Result ID: 6a156524fbc373592c0d14b7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.1"}. This record does not assert independent reproduction. ### MOBODY Normalized Score: 59.2. Result ID: 6a156524fbc373592c0d14cc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"5.0"}. This record does not assert independent reproduction. ### MOBODY Normalized Score: 57.53. Result ID: 6a156524fbc373592c0d14b4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.1"}. This record does not assert independent reproduction. ### CEDGE-Policy Normalized Score: 52.06. Result ID: 6a156524fbc373592c0d14bf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.5"}. This record does not assert independent reproduction. ### MOBODY Normalized Score: 50.02. Result ID: 6a156524fbc373592c0d14c4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"2.0"}. This record does not assert independent reproduction. ### TD3-BC Normalized Score: 49.43. Result ID: 6a156524fbc373592c0d14ba. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Level":"0.5"}. This record does not assert independent reproduction. ### CEDGE-Policy Normalized Score: 49.15. Result ID: 6a156524fbc373592c0d14c7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"2.0"}. This record does not assert independent reproduction. ### CEDGE-Planner Normalized Score: 47.93. Result ID: 6a156524fbc373592c0d14c6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"2.0"}. This record does not assert independent reproduction. ### Diffuser Normalized Score: 46.91. Result ID: 6a156524fbc373592c0d14c5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"2.0"}. This record does not assert independent reproduction. ### BOSA Normalized Score: 46.53. Result ID: 6a156524fbc373592c0d14c0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"2.0"}. This record does not assert independent reproduction. ### DARA Normalized Score: 46.25. Result ID: 6a156524fbc373592c0d14c3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"2.0"}. This record does not assert independent reproduction. ### IQL Normalized Score: 46.04. Result ID: 6a156524fbc373592c0d14c1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"2.0"}. This record does not assert independent reproduction. ### IQL Normalized Score: 44.96. Result ID: 6a156524fbc373592c0d14c9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"5.0"}. This record does not assert independent reproduction. ### BOSA Normalized Score: 44.07. Result ID: 6a156524fbc373592c0d14c8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"5.0"}. This record does not assert independent reproduction. ### TD3-BC Normalized Score: 43.51. Result ID: 6a156524fbc373592c0d14c2. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Level":"2.0"}. This record does not assert independent reproduction. ### DARA Normalized Score: 40.06. Result ID: 6a156524fbc373592c0d14cb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"5.0"}. This record does not assert independent reproduction. ### TD3-BC Normalized Score: 35.83. Result ID: 6a156524fbc373592c0d14ca. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Level":"5.0"}. This record does not assert independent reproduction. ### CEDGE-Planner Normalized Score: 32.79. Result ID: 6a156524fbc373592c0d14ce. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"5.0"}. This record does not assert independent reproduction. ### Diffuser Normalized Score: 32.11. Result ID: 6a156524fbc373592c0d14cd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"5.0"}. This record does not assert independent reproduction. ### IQL Normalized Score: 26.39. Result ID: 6a156524fbc373592c0d14b1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.1"}. This record does not assert independent reproduction. ### DARA Normalized Score: 23.69. Result ID: 6a156524fbc373592c0d14b3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.1"}. This record does not assert independent reproduction. ### BOSA Normalized Score: 12.53. Result ID: 6a156524fbc373592c0d14b0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.1"}. This record does not assert independent reproduction. ### Diffuser Normalized Score: 10.7. Result ID: 6a156524fbc373592c0d14b5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.1"}. This record does not assert independent reproduction. ### CEDGE-Planner Normalized Score: 10.55. Result ID: 6a156524fbc373592c0d14b6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Level":"0.1"}. This record does not assert independent reproduction. ### TD3-BC Normalized Score: 8.95. Result ID: 6a156524fbc373592c0d14b2. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Level":"0.1"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.