Table 1: Normalized performance of the last 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	42.40 ± 0.19	42.46 ± 0.70	48.10 ± 0.18	50.02 ± 0.27	47.04 ± 0.22	48.31 ± 0.22	64.04 ± 0.68	68.20 ± 1.28	67.70 ± 1.04	42.20 ± 0.26
halfcheetah-medium-replay-v2	35.66 ± 2.33	23.59 ± 6.95	44.84 ± 0.59	45.13 ± 0.88	45.04 ± 0.27	44.46 ± 0.22	51.18 ± 0.31	60.70 ± 1.01	62.06 ± 1.10	38.91 ± 0.50
halfcheetah-medium-expert-v2	55.95 ± 7.35	90.10 ± 2.45	90.78 ± 6.04	95.00 ± 0.61	95.63 ± 0.42	94.74 ± 0.52	103.80 ± 2.95	98.96 ± 9.31	104.76 ± 0.64	91.55 ± 0.95
hopper-medium-v2	53.51 ± 1.76	55.48 ± 7.30	60.37 ± 3.49	63.02 ± 4.56	59.08 ± 3.77	67.53 ± 3.78	102.29 ± 0.17	40.82 ± 9.91	101.70 ± 0.28	65.10 ± 1.61
hopper-medium-replay-v2	29.81 ± 2.07	70.42 ± 8.66	64.42 ± 21.52	98.88 ± 2.07	95.11 ± 5.27	97.43 ± 6.39	94.98 ± 6.53	100.33 ± 0.78	99.66 ± 0.81	81.77 ± 6.87
hopper-medium-expert-v2	52.30 ± 4.01	111.16 ± 1.03	101.17 ± 0.97	101.90 ± 6.22	99.26 ± 10.91	107.42 ± 7.80	109.45 ± 2.34	101.31 ± 11.63	105.19 ± 10.08	110.44 ± 0.33
walker2d-medium-v2	63.23 ± 16.24	67.34 ± 5.17	82.71 ± 4.78	68.52 ± 27.19	80.75 ± 3.28	80.91 ± 3.17	85.82 ± 0.77	87.47 ± 0.66	93.36 ± 1.38	67.63 ± 2.54
walker2d-medium-replay-v2	21.80 ± 10.15	54.35 ± 6.34	85.62 ± 4.01	80.62 ± 3.58	73.09 ± 13.22	82.15 ± 3.03	84.25 ± 2.25	78.99 ± 0.50	87.10 ± 2.78	59.86 ± 2.73
walker2d-medium-expert-v2	98.96 ± 15.98	108.70 ± 0.25	110.03 ± 0.36	111.44 ± 1.62	109.56 ± 0.39	111.72 ± 0.86	111.86 ± 0.43	114.93 ± 0.41	114.75 ± 0.74	107.11 ± 0.96
Gym-MuJoCo avg	50.40	69.29	76.45	79.39	78.28	81.63	89.74	83.52	92.92	73.84
maze2d-umaze-v1	0.36 ± 8.69	12.18 ± 4.29	29.41 ± 12.31	65.65 ± 5.34	-8.90 ± 6.11	42.11 ± 0.58	106.87 ± 22.16	130.59 ± 16.52	95.26 ± 6.39	18.08 ± 25.42
maze2d-medium-v1	0.79 ± 3.25	14.25 ± 2.33	59.45 ± 36.25	84.63 ± 35.54	86.11 ± 9.68	34.85 ± 2.72	105.11 ± 31.67	86.81 ± 18.72	57.04 ± 3.45	31.71 ± 26.33
maze2d-large-v1	2.26 ± 4.39	11.32 ± 5.10	97.10 ± 25.41	215.50 ± 3.11	23.75 ± 36.70	61.72 ± 3.50	78.33 ± 61.77	204.76 ± 1.19	95.60 ± 22.92	35.66 ± 28.20
Maze2d avg	1.13	12.58	61.99	121.92	33.65	46.23	96.77	141.32	82.64	28.48
antmaze-umaze-v2	55.25 ± 4.15	65.75 ± 5.26	70.75 ± 39.18	56.75 ± 9.09	92.75 ± 1.92	77.00 ± 5.52	97.75 ± 1.48	0.00 ± 0.00	0.00 ± 0.00	57.00 ± 9.82
antmaze-umaze-diverse-v2	47.25 ± 4.09	44.00 ± 1.00	44.75 ± 11.61	54.75 ± 8.01	37.25 ± 3.70	54.25 ± 5.54	83.50 ± 7.02	0.00 ± 0.00	0.00 ± 0.00	51.75 ± 0.43
antmaze-medium-play-v2	0.00 ± 0.00	2.00 ± 0.71	0.25 ± 0.43	0.00 ± 0.00	65.75 ± 11.61	65.75 ± 11.71	89.50 ± 3.35	0.00 ± 0.00	0.00 ± 0.00	0.00 ± 0.00
antmaze-medium-diverse-v2	0.75 ± 0.83	5.75 ± 9.39	0.25 ± 0.43	0.00 ± 0.00	67.25 ± 3.56	73.75 ± 5.45	83.50 ± 8.20	0.00 ± 0.00	0.00 ± 0.00	0.00 ± 0.00
antmaze-large-play-v2	0.00 ± 0.00	0.00 ± 0.00	0.00 ± 0.00	0.00 ± 0.00	20.75 ± 7.26	42.00 ± 4.53	52.25 ± 29.01	0.00 ± 0.00	0.00 ± 0.00	0.00 ± 0.00
antmaze-large-diverse-v2	0.00 ± 0.00	0.75 ± 0.83	0.00 ± 0.00	0.00 ± 0.00	20.50 ± 13.24	30.25 ± 3.63	64.00 ± 5.43	0.00 ± 0.00	0.00 ± 0.00	0.00 ± 0.00
AntMaze avg	17.21	19.71	19.33	18.58	50.71	57.17	78.42	0.00	0.00	18.12
pen-human-v1	71.03 ± 6.26	26.99 ± 9.60	-3.88 ± 0.21	76.65 ± 11.71	13.71 ± 16.98	78.49 ± 8.21	103.16 ± 8.49	6.86 ± 5.93	5.07 ± 6.16	67.68 ± 5.48
pen-cloned-v1	51.92 ± 15.15	46.67 ± 14.25	5.13 ± 5.28	85.72 ± 16.92	1.04 ± 6.62	83.42 ± 8.19	102.79 ± 7.84	31.35 ± 2.14	12.02 ± 1.75	64.43 ± 1.43
pen-expert-v1	109.65 ± 7.28	114.96 ± 2.96	122.53 ± 21.27	159.91 ± 1.87	-1.41 ± 2.34	128.05 ± 9.21	152.16 ± 6.33	87.11 ± 48.95	-1.55 ± 0.81	116.38 ± 1.27
door-human-v1	2.34 ± 4.00	-0.13 ± 0.07	-0.33 ± 0.01	2.39 ± 2.26	5.53 ± 1.31	3.26 ± 1.83	-0.10 ± 0.01	-0.38 ± 0.00	-0.12 ± 0.13	4.44 ± 0.87
door-cloned-v1	-0.09 ± 0.03	0.29 ± 0.59	-0.34 ± 0.01	-0.01 ± 0.01	-0.33 ± 0.01	3.07 ± 1.75	0.06 ± 0.05	-0.33 ± 0.00	2.66 ± 2.31	7.64 ± 3.26
door-expert-v1	105.35 ± 0.09	104.04 ± 1.46	-0.33 ± 0.01	104.57 ± 0.31	-0.32 ± 0.02	106.65 ± 0.25	106.37 ± 0.29	-0.33 ± 0.00	106.29 ± 1.73	104.87 ± 0.39
hammer-human-v1	3.03 ± 3.39	-0.19 ± 0.02	1.02 ± 0.24	1.01 ± 0.51	0.14 ± 0.11	1.79 ± 0.80	0.24 ± 0.24	0.24 ± 0.00	0.28 ± 0.18	1.28 ± 0.15
hammer-cloned-v1	0.55 ± 0.16	0.12 ± 0.08	0.25 ± 0.01	1.27 ± 2.11	0.30 ± 0.01	1.50 ± 0.69	5.00 ± 3.75	0.14 ± 0.09	0.19 ± 0.07	1.82 ± 0.55
hammer-expert-v1	126.78 ± 0.64	121.75 ± 7.67	3.11 ± 0.03	127.08 ± 0.13	0.26 ± 0.01	128.68 ± 0.33	133.62 ± 0.27	25.13 ± 43.25	28.52 ± 49.00	117.45 ± 6.65
relocate-human-v1	0.04 ± 0.03	-0.14 ± 0.08	-0.29 ± 0.01	0.45 ± 0.53	0.06 ± 0.03	0.12 ± 0.04	0.16 ± 0.30	-0.31 ± 0.01	-0.17 ± 0.17	0.05 ± 0.01
relocate-cloned-v1	-0.06 ± 0.01	-0.00 ± 0.02	-0.30 ± 0.01	-0.01 ± 0.03	-0.29 ± 0.01	0.04 ± 0.01	1.66 ± 2.59	-0.01 ± 0.10	0.17 ± 0.35	0.16 ± 0.09
relocate-expert-v1	107.58 ± 1.20	97.90 ± 5.21	-1.73 ± 0.96	109.52 ± 0.47	-0.30 ± 0.02	106.11 ± 4.02	107.52 ± 2.28	-0.36 ± 0.00	71.94 ± 18.37	104.28 ± 0.42
Adroit avg	48.18	42.69	10.40	55.71	1.53	53.43	59.39	12.43	18.78	49.21
Total avg	37.95	43.06	37.16	62.01	37.61	61.92	76.04	44.16	43.65	48.31