Table 2: The episodic returns of each method on different tasks with five random seeds.
Algorithm	α = 0.1	α = 0.2	HalfCheetah α = 0.3	α = 0.4	α = 0.5	α = 0.1	α = 0.3	Hopper α = 0.3	α = 0.4	α = 0.5
GAIL_expert	1194.69 ± 0.39	1183.79 ± 10.94	1149.63 ± 10.78	1175.55 ± 5.03	1178.95 ± 9.99	3205.43 ± 53.78	3357.21 ± 118.81	3009.00 ± 126.88	2520.26 ± 79.07	3207.89 ± 272.30
Behavior Cloning	-252.99 ± 40.41	-280.13 ± 12.96	-259.96 ± 15.01	-233.14 ± 27.89	-248.84 ± 57.95	3.39 ± 1.00	6.08 ± 0.30	4.34 ± 1.04	3.56 ± 0.70	6.14 ± 2.47
GAIL	862.44 ± 11.47	638.34 ± 211.12	663.98 ± 227.04	798.94 ± 201.16	833.82 ± 199.45	2889.95 ± 108.94	2248.22 ± 738.06	2687.68 ± 395.29	3068.24 ± 184.86	3058.58 ± 408.20
AIRL	767.28 ± 14.40	749.36 ± 4.36	750.17 ± 13.53	824.88 ± 13.43	948.51 ± 20.62	1689.21 ± 158.41	2350.81 ± 602.29	2430.85 ± 176.82	3120.07 ± 145.56	2930.19 ± 214.47
T-REX	-307.86 ± 84.96	-424.82 ± 232.80	-595.05 ± 30.70	-507.48 ± 10.59	-559.07 ± 47.79	2777.79 ± 258.43	2645.89 ± 148.47	2567.30 ± 264.91	2764.23 ± 23.34	2526.49 ± 390.17
SSRR	-23.12 ± 432.45	636.43 ± 132.53	644.47 ± 221.43	532.41 ± 146.23	812.43 ± 346.32	812.25 ± 547.45	743.92 ± 124.3	834.14 ± 54.82	1632.65 ± 72.85	2093.16 ± 63.75
D-REX	-36.04 ± 231.24	598.26 ± 118.27	498.92 ± 158.82	494.79 ± 132.04	750.46 ± 302.46	780.45 ± 1064.72	768.92 ± 35.32	783.24 ± 40.63	1489.07 ± 50.02	1775.78 ± 79.66
CAIL	729.30 ± 14.38	730.67 ± 46.32	727.16 ± 39.90	877.17 ± 21.70	1023.79 ± 18.72	1662.75 ± 15.43	2567.27 ± 30.04	2600.46 ± 18.12	3181.73 ± 30.26	3613.39 ± 4.96
COMPIER	922.63 ± 35.01	1022.26 ± 8.09	1108.86 ± 5.77	1158.81 ± 21.99	1176.47 ± 4.89	2968.06 ± 142.26	3140.12 ± 182.90	3342.82 ± 170.21	3318.97 ± 132.90	3369.32 ± 93.55
COMPIER-E (BEE)	893.46 ± 13.85	993.02 ± 10.54	985.83 ± 19.45	1140.59 ± 18.41	1171.26 ± 16.20	3304.72 ± 146.63	3321.49 ± 71.11	3432.43 ± 89.40	3398.16 ± 164.11	3399.86 ± 167.70
COMPIER-E (KM)	901.67 ± 17.15	826.80 ± 123.83	911.47 ± 119.29	1062.98 ± 9.37	1075.86 ± 81.26	2928.93 ± 215.48	3450.24 ± 49.37	3459.01 ± 46.82	3175.60 ± 80.51	3462.89 ± 71.79
Algothm	α = 0.1	α = 0.2	Swimmer α = 0.3	α = 0.4	α = 0.5	α = 0.2	Walker2d α = 0.3	α = 0.4	α = 0.5
GAIL_expert	99.55 ± 1.75	102.65 ± 1.78	100.70 ± 0.56	100.52 ± 1.70	98.82 ± 2.04	3469.81 ± 218.18	3495.31 ± 206.58	3424.13 ± 102.34	3426.62 ± 198.15	3328.20 ± 357.37
Behavior Cloning	17.13 ± 20.16	51.33 ± 11.61	19.21 ± 42.68	39.40 ± 37.49	-10.26 ± 23.34	-5.82 ± 7.54	-12.33 ± 2.05	19.50 ± 39.39	-14.07 ± 5.33	-6.27 ± 13.46
GAIL	75.11 ± 4.25	60.96 ± 11.66	88.21 ± 12.46	90.34 ± 8.28	96.21 ± 4.99	2883.94 ± 230.93	2779.58 ± 792.39	2751.23 ± 711.34	2914.64 ± 530.28	2936.05 ± 604.15
AIRL	31.66 ± 3.52	50.44 ± 5.73	73.72 ± 4.33	83.65 ± 6.77	94.55 ± 4.62	2003.95 ± 272.55	2849.55 ± 85.02	2914.45 ± 78.68	2970.29 ± 149.52	3009.35 ± 236.45
T-REX	7.07 ± 37.40	0.57 ± 0.66	14.80 ± 4.46	6.29 ± 10.48	0.70 ± 24.89	1007.39 ± 217.20	1660.39 ± 541.72	1845.43 ± 695.87	1930.96 ± 660.01	2091.45 ± 314.22
SSRR	50.44 ± 3.53	53.42 ± 6.64	76.41 ± 1.64	80.14 ± 6.52	83.15 ± 12.98	629.42 ± 8.63	943.26 ± 73.36	985.25 ± 15.68	1534.02 ± 86.42	1620.73 ± 119.80
D-REX	55.04 ± 3.70	41.32 ± 10.65	73.22 ± 11.72	59.92 ± 5.57	63.22 ± 11.72	558.65 ± 10.59	803.20 ± 15.15	873.89 ± 32.41	961.01 ± 25.84	779.17 ± 19.72
CAIL	49.53 ± 1.33	66.94 ± 12.15	78.15 ± 6.01	95.88 ± 1.87	102.12 ± 1.14	2023.80 ± 123.59	3022.30 ± 25.46	3260.85 ± 103.69	3530.55 ± 165.45	3164.23 ± 36.05
COMPIER	99.03 ± 0.98	101.34 ± 1.72	100.87 ± 1.21	100.86 ± 2.05	100.01 ± 0.26	3342.64 ± 172.10	3516.76 ± 132.31	3400.51 ± 112.84	3536.91 ± 166.69	3668.58 ± 115.10
COMPIER-E (BEE)	89.86 ± 5.23	102.43 ± 0.70	101.26 ± 2.09	98.78 ± 3.51	101.69 ± 0.41	3365.31 ± 106.52	3621.73 ± 69.74	3583.22 ± 15.59	3543.71 ± 66.53	3649.94 ± 57.41
COMPIER-E (KM)	93.30 ± 2.10	91.79 ± 10.91	100.17 ± 3.15	98.82 ± 1.52	101.88 ± 0.69	3467.94 ± 44.26	3444.01 ± 223.64	3514.53 ± 183.36	3491.87 ± 343.31	3629.15 ± 73.66