ResearchBenchmarksPlanning and Control on D4RL maze2d-medium v1Follow166.8D4RL ScoreInverter128.632138.541148.45158.359May 22, 2026Evaluation ResultsMethodMethodLinksD4RL ScoreDelta PointsDelta %Inverter2026.05166.836.728.2Diffuser2026.05130.1——