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Imitation Learning research benchmarks – Page 3 · SOTA2 Research

Imitation Learning

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

DeepMind Control Suite image-based

EfficientImitate

0.94Cartpole Score

6

Feb 26, 2026

1,839.8Mean Score

6

Feb 26, 2026

141.1Mean Score

6

Feb 26, 2026

1,537.9Mean Score

6

Feb 26, 2026

-179.6Mean Score

6

Feb 26, 2026

Behavior Cloning (BC)

1Performance Score T

5

May 28, 2026

Behavior Cloning (BC)

1T Metric

5

May 28, 2026

antmaze umaze v2

44.44Normalized return

5

Mar 6, 2026

3,546.4Hopper Score

5

Feb 26, 2026

DeepMind Control Suite state-based

EfficientImitate

98Cartpole Score

5

Feb 26, 2026

D3IL Stacking (Image)

85Task Success Rate

4

Jun 23, 2026

D3IL Sorting (Image)

93Task Success Rate

4

Jun 23, 2026

D3IL Stacking-2

72Task Success Rate

4

Jun 23, 2026

D3IL Stacking-1

86Task Success Rate

4

Jun 23, 2026

93Task Success Rate

4

Jun 23, 2026

88Task Success Rate

4

Jun 23, 2026

97Task Success Rate

4

Jun 23, 2026

55.2Close Jar Success Rate

4

Jun 19, 2026

MimicGen (test)

94.6Stack Success

4

Jun 19, 2026

GSRD (out-of-distribution)

0Unsuccessful Trajectories

4

Jun 4, 2026

GSRD (initial conditions)

0.091RMSE

4

Jun 4, 2026

88.125Success Rate

4

Feb 26, 2026

Dish Washing (test)

Ours (+ Pretrain)

65Success Rate

3

Apr 10, 2026

Binder Clip Removal (test)

Ours (+ Pretrain)

80Success Rate

3

Apr 10, 2026

Cable Mounting (test)

Ours (+ Pretrain)

40Success Rate

3

Apr 10, 2026

Page 3 of 4

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