Table 2: Normalized performance of the best trained policy on D4RL averaged over 4 random seeds.
Task Name	BC	BC-10%	TD3+BC	AWAC	CQL	IQL	ReBRAC	SAC-N	EDAC	DT
halfcheetah-medium-v2	43.60 ± 0.14	43.90 ± 0.13	48.93 ± 0.11	50.81 ± 0.15	47.62 ± 0.03	48.84 ± 0.07	65.62 ± 0.46	72.21 ± 0.31	69.72 ± 0.92	42.73 ± 0.10
halfcheetah-medium-repvlv2	40.52 ± 0.19	42.27 ± 0.46	45.84 ± 0.26	46.47 ± 0.26	46.43 ± 0.19	45.35 ± 0.08	52.22 ± 0.31	67.29 ± 0.34	66.55 ± 1.05	40.31 ± 0.28
halfcheetah-medium-expert-v2	79.69 ± 3.10	94.11 ± 0.22	96.59 ± 0.87	96.83 ± 0.23	97.04 ± 0.17	95.38 ± 0.17	108.89 ± 1.20	111.73 ± 0.47	110.62 ± 1.04	93.40 ± 0.21
hopper-medium-v2	69.04 ± 2.90	73.84 ± 0.37	70.44 ± 1.18	95.42 ± 3.67	70.80 ± 1.98	80.46 ± 3.09	103.19 ± 0.16	101.79 ± 0.20	103.26 ± 0.14	69.42 ± 3.64
hopper-medium-repvlv2	68.88 ± 10.33	90.57 ± 2.07	98.12 ± 1.16	101.47 ± 0.23	101.63 ± 0.55	102.69 ± 0.96	102.57 ± 0.45	103.83 ± 0.53	103.28 ± 0.49	88.74 ± 3.02
hopper-medium-expert-v2	90.63 ± 10.98	113.13 ± 0.16	113.22 ± 0.43	113.26 ± 0.49	112.84 ± 0.66	113.18 ± 0.38	113.16 ± 0.43	111.24 ± 0.15	111.80 ± 0.11	111.18 ± 0.21
walker2d-medium-v2	80.64 ± 0.91	82.05 ± 0.93	86.91 ± 0.28	85.86 ± 3.76	84.77 ± 0.20	87.58 ± 0.48	87.79 ± 0.19	90.17 ± 0.54	95.78 ± 1.07	74.70 ± 0.56
walker2d-medium-repvlv2	48.41 ± 7.61	76.09 ± 0.40	91.17 ± 0.72	86.70 ± 0.94	89.39 ± 0.88	89.94 ± 0.93	91.11 ± 0.63	85.18 ± 1.63	89.69 ± 1.39	68.22 ± 1.20
walker2d-medium-expert-v2	109.95 ± 0.62	109.90 ± 0.09	112.21 ± 0.06	113.40 ± 2.22	111.63 ± 0.38	113.06 ± 0.53	112.49 ± 0.18	116.93 ± 0.42	116.52 ± 0.75	108.71 ± 0.34
Gym-MuJoCo avg	70.15	80.65	84.83	87.80	84.68	86.28	93.00	95.60	96.36	77.49
maze2d-umaze-v1	16.09 ± 0.87	22.49 ± 1.52	99.33 ± 16.16	136.96 ± 10.89	92.05 ± 13.66	50.92 ± 4.23	162.28 ± 1.79	153.12 ± 6.49	149.88 ± 1.97	63.83 ± 17.35
maze2d-medium-v1	19.16 ± 1.24	27.64 ± 1.87	150.93 ± 3.89	152.73 ± 20.78	128.66 ± 5.44	122.69 ± 30.00	150.12 ± 4.48	93.80 ± 14.66	154.41 ± 1.58	68.14 ± 12.25
maze2d-large-v1	20.75 ± 6.66	41.83 ± 3.64	197.64 ± 5.26	227.31 ± 1.47	157.51 ± 7.32	162.25 ± 44.18	197.55 ± 5.82	207.51 ± 0.96	182.52 ± 2.68	50.25 ± 19.34
Maze2d avg	18.67	30.65	149.30	172.33	126.07	111.95	169.98	151.48	162.27	60.74
antmaze-umaze-v2	68.50 ± 2.29	77.50 ± 1.50	98.50 ± 0.87	70.75 ± 8.84	94.75 ± 0.83	84.00 ± 4.06	100.00 ± 0.00	0.00 ± 0.00	42.50 ± 28.61	64.50 ± 2.06
antmaze-umaze-diverse-v2	64.75 ± 4.32	63.50 ± 2.18	71.25 ± 5.76	81.50 ± 4.27	53.75 ± 2.05	79.50 ± 3.35	96.75 ± 2.28	0.00 ± 0.00	0.00 ± 0.00	60.50 ± 2.29
antmaze-medium-play-v2	4.50 ± 1.12	6.25 ± 2.38	3.75 ± 1.30	25.00 ± 10.70	80.50 ± 3.35	78.50 ± 3.84	93.50 ± 2.60	0.00 ± 0.00	0.00 ± 0.00	0.75 ± 0.43
antmaze-medium-diverse-v2	4.75 ± 1.09	16.50 ± 5.59	5.50 ± 1.50	10.75 ± 5.31	71.00 ± 4.53	83.50 ± 1.80	91.75 ± 2.05	0.00 ± 0.00	0.00 ± 0.00	0.50 ± 0.50
antmaze-large-play-v2	0.50 ± 0.50	13.50 ± 9.76	1.25 ± 0.43	0.50 ± 0.50	34.75 ± 5.85	53.50 ± 2.50	68.75 ± 13.90	0.00 ± 0.00	0.00 ± 0.00	0.00 ± 0.00
antmaze-large-diverse-v2	0.75 ± 0.43	6.25 ± 1.79	0.25 ± 0.43	0.00 ± 0.00	36.25 ± 3.34	53.00 ± 3.00	69.50 ± 7.26	0.00 ± 0.00	0.00 ± 0.00	0.00 ± 0.00
AntMaze avg	23.96	30.58	30.08	31.42	61.83	72.00	86.71	0.00	7.08	21.04
pen-human-v1	99.69 ± 7.45	59.89 ± 8.03	9.95 ± 8.19	119.03 ± 6.55	58.91 ± 1.81	106.15 ± 10.28	127.28 ± 3.22	56.48 ± 7.17	35.84 ± 10.57	77.83 ± 2.30
pen-cloned-v1	99.14 ± 12.27	83.62 ± 11.75	52.66 ± 6.33	125.78 ± 3.28	14.74 ± 2.31	114.05 ± 4.78	128.64 ± 7.15	52.69 ± 5.30	26.90 ± 7.85	71.17 ± 2.70
pen-expert-v1	128.77 ± 5.88	134.36 ± 3.16	142.83 ± 7.72	162.53 ± 0.30	14.86 ± 4.07	140.01 ± 6.36	157.62 ± 0.26	116.43 ± 40.26	36.04 ± 4.60	119.49 ± 2.31
door-human-v1	9.41 ± 4.55	7.00 ± 6.77	-0.11 ± 0.06	17.70 ± 2.55	13.28 ± 2.77	13.52 ± 1.22	0.27 ± 0.43	-0.10 ± 0.06	2.51 ± 2.26	7.36 ± 1.24
door-cloned-v1	3.40 ± 0.95	10.37 ± 4.09	-0.20 ± 0.11	10.53 ± 2.82	-0.08 ± 0.13	9.02 ± 1.47	7.73 ± 6.80	-0.21 ± 0.10	20.36 ± 1.11	11.18 ± 0.96
door-expert-v1	105.84 ± 0.23	105.92 ± 0.24	4.49 ± 7.39	106.60 ± 0.27	59.47 ± 25.04	107.29 ± 0.37	106.78 ± 0.04	0.05 ± 0.02	109.22 ± 0.24	105.49 ± 0.09
hammer-human-v1	12.61 ± 4.87	6.23 ± 4.79	2.38 ± 0.14	16.95 ± 3.61	0.30 ± 0.05	6.86 ± 2.38	1.18 ± 0.15	0.25 ± 0.00	3.49 ± 2.17	1.68 ± 0.11
hammer-cloned-v1	8.90 ± 4.04	8.72 ± 3.28	0.96 ± 0.30	10.74 ± 5.54	0.32 ± 0.03	11.63 ± 1.70	48.16 ± 6.20	12.67 ± 15.02	0.27 ± 0.01	2.74 ± 0.22
hammer-expert-v1	127.89 ± 0.57	128.15 ± 0.66	33.31 ± 47.65	129.08 ± 0.26	0.93 ± 1.12	129.76 ± 0.37	134.74 ± 0.30	91.74 ± 47.77	69.44 ± 47.00	127.39 ± 0.10
relocate-human-v1	0.59 ± 0.27	0.16 ± 0.14	-0.29 ± 0.01	1.77 ± 0.84	1.03 ± 0.20	1.22 ± 0.28	3.70 ± 2.34	-0.18 ± 0.14	0.05 ± 0.02	0.08 ± 0.02
relocate-cloned-v1	0.45 ± 0.31	0.74 ± 0.45	-0.02 ± 0.04	0.39 ± 0.13	-0.07 ± 0.02	1.78 ± 0.70	9.25 ± 2.56	0.10 ± 0.04	4.11 ± 1.39	0.34 ± 0.09
relocate-expert-v1	110.31 ± 0.36	109.77 ± 0.60	0.23 ± 0.27	111.21 ± 0.32	0.03 ± 0.10	110.12 ± 0.82	111.14 ± 0.23	-0.07 ± 0.08	98.32 ± 3.75	106.49 ± 0.30
Adroit avg	58.92	54.58	20.51	67.69	13.65	62.62	69.71	27.49	33.88	52.60
Total avg	51.27	55.21	54.60	76.93	55.84	76.53	90.12	54.82	60.10	54.57