Full per-task table from the Drift Q-Learning appendix.
Back to project page| Task | BC | IQL | ReBRAC | IDQL | SRPO | CAC | FAWAC | FBRAC | IFQL | FQL | DriftQL |
|---|---|---|---|---|---|---|---|---|---|---|---|
| OGBench AntMaze Large | |||||||||||
| antmaze-large-navigate-singletask-task1-v0 (*) | 0 ± 0 | 48 ± 9 | 91 ± 10 | 0 ± 0 | 0 ± 0 | 42 ± 7 | 1 ± 1 | 70 ± 20 | 24 ± 17 | 80 ± 8 | 95 ± 2 |
| antmaze-large-navigate-singletask-task2-v0 | 6 ± 3 | 42 ± 6 | 88 ± 4 | 14 ± 8 | 4 ± 4 | 1 ± 1 | 0 ± 1 | 35 ± 12 | 8 ± 3 | 57 ± 10 | 85 ± 9 |
| antmaze-large-navigate-singletask-task3-v0 | 29 ± 5 | 72 ± 7 | 51 ± 18 | 26 ± 8 | 3 ± 2 | 49 ± 10 | 12 ± 4 | 83 ± 15 | 52 ± 17 | 93 ± 3 | 97 ± 1 |
| antmaze-large-navigate-singletask-task4-v0 | 8 ± 3 | 51 ± 9 | 84 ± 7 | 62 ± 25 | 45 ± 19 | 17 ± 6 | 10 ± 3 | 37 ± 18 | 18 ± 8 | 80 ± 4 | 91 ± 1 |
| antmaze-large-navigate-singletask-task5-v0 | 10 ± 3 | 54 ± 22 | 90 ± 2 | 2 ± 2 | 1 ± 1 | 55 ± 6 | 9 ± 5 | 76 ± 8 | 38 ± 18 | 83 ± 4 | 92 ± 1 |
| OGBench AntMaze Giant | |||||||||||
| antmaze-giant-navigate-singletask-task1-v0 (*) | 0 ± 0 | 0 ± 0 | 27 ± 22 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 1 | 0 ± 0 | 4 ± 5 | 32 ± 2 |
| antmaze-giant-navigate-singletask-task2-v0 | 0 ± 0 | 1 ± 1 | 16 ± 17 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 4 ± 7 | 0 ± 0 | 9 ± 7 | 79 ± 1 |
| antmaze-giant-navigate-singletask-task3-v0 | 0 ± 0 | 0 ± 0 | 34 ± 22 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 1 | 43 ± 2 |
| antmaze-giant-navigate-singletask-task4-v0 | 0 ± 0 | 0 ± 0 | 5 ± 12 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 9 ± 4 | 0 ± 0 | 14 ± 23 | 64 ± 3 |
| antmaze-giant-navigate-singletask-task5-v0 | 1 ± 1 | 19 ± 7 | 49 ± 22 | 0 ± 1 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 6 ± 10 | 13 ± 9 | 16 ± 28 | 85 ± 5 |
| OGBench HumanoidMaze Medium | |||||||||||
| humanoidmaze-medium-navigate-singletask-task1-v0 (*) | 1 ± 0 | 32 ± 7 | 16 ± 9 | 1 ± 1 | 0 ± 0 | 38 ± 19 | 6 ± 2 | 25 ± 8 | 69 ± 19 | 19 ± 12 | 28 ± 2 |
| humanoidmaze-medium-navigate-singletask-task2-v0 | 1 ± 0 | 41 ± 9 | 18 ± 16 | 1 ± 1 | 1 ± 1 | 47 ± 35 | 40 ± 2 | 76 ± 10 | 85 ± 11 | 94 ± 3 | 87 ± 2 |
| humanoidmaze-medium-navigate-singletask-task3-v0 | 6 ± 2 | 25 ± 5 | 36 ± 13 | 0 ± 1 | 2 ± 1 | 83 ± 18 | 19 ± 2 | 27 ± 11 | 49 ± 49 | 74 ± 18 | 56 ± 3 |
| humanoidmaze-medium-navigate-singletask-task4-v0 | 0 ± 0 | 0 ± 1 | 15 ± 16 | 1 ± 1 | 1 ± 1 | 5 ± 4 | 1 ± 1 | 1 ± 2 | 1 ± 1 | 3 ± 4 | 39 ± 3 |
| humanoidmaze-medium-navigate-singletask-task5-v0 | 2 ± 1 | 66 ± 4 | 24 ± 20 | 1 ± 1 | 3 ± 3 | 91 ± 5 | 31 ± 7 | 63 ± 9 | 98 ± 2 | 97 ± 2 | 99 ± 2 |
| OGBench HumanoidMaze Large | |||||||||||
| humanoidmaze-large-navigate-singletask-task1-v0 (*) | 0 ± 0 | 3 ± 1 | 2 ± 1 | 0 ± 0 | 0 ± 0 | 1 ± 1 | 0 ± 0 | 0 ± 1 | 6 ± 2 | 7 ± 6 | 2 ± 1 |
| humanoidmaze-large-navigate-singletask-task2-v0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 |
| humanoidmaze-large-navigate-singletask-task3-v0 | 1 ± 1 | 7 ± 3 | 8 ± 4 | 3 ± 1 | 1 ± 1 | 2 ± 3 | 1 ± 1 | 10 ± 2 | 48 ± 10 | 11 ± 7 | 23 ± 1 |
| humanoidmaze-large-navigate-singletask-task4-v0 | 1 ± 0 | 1 ± 0 | 1 ± 1 | 0 ± 0 | 0 ± 0 | 0 ± 1 | 0 ± 0 | 0 ± 0 | 1 ± 1 | 2 ± 3 | 1 ± 1 |
| humanoidmaze-large-navigate-singletask-task5-v0 | 0 ± 1 | 1 ± 1 | 2 ± 2 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 1 ± 1 | 0 ± 0 | 1 ± 3 | 1 ± 0 |
| OGBench AntSoccer | |||||||||||
| antsoccer-arena-navigate-singletask-task1-v0 | 2 ± 1 | 14 ± 5 | 0 ± 0 | 44 ± 12 | 2 ± 1 | 1 ± 3 | 22 ± 2 | 17 ± 3 | 61 ± 25 | 77 ± 4 | 79 ± 4 |
| antsoccer-arena-navigate-singletask-task2-v0 | 2 ± 2 | 17 ± 7 | 0 ± 1 | 15 ± 12 | 3 ± 1 | 0 ± 0 | 8 ± 1 | 8 ± 2 | 75 ± 3 | 88 ± 3 | 91 ± 2 |
| antsoccer-arena-navigate-singletask-task3-v0 | 0 ± 0 | 6 ± 4 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 8 ± 19 | 11 ± 5 | 16 ± 3 | 14 ± 22 | 61 ± 6 | 60 ± 3 |
| antsoccer-arena-navigate-singletask-task4-v0 (*) | 1 ± 0 | 3 ± 2 | 0 ± 0 | 0 ± 1 | 0 ± 0 | 0 ± 0 | 12 ± 3 | 24 ± 4 | 16 ± 9 | 39 ± 6 | 48 ± 5 |
| antsoccer-arena-navigate-singletask-task5-v0 | 0 ± 0 | 2 ± 2 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 9 ± 2 | 15 ± 4 | 0 ± 1 | 36 ± 9 | 48 ± 9 |
| OGBench Cube Single | |||||||||||
| cube-single-play-singletask-task1-v0 | 10 ± 5 | 88 ± 3 | 89 ± 5 | 95 ± 2 | 89 ± 7 | 77 ± 28 | 81 ± 9 | 73 ± 33 | 79 ± 4 | 97 ± 2 | 94 ± 3 |
| cube-single-play-singletask-task2-v0 (*) | 3 ± 1 | 85 ± 8 | 92 ± 4 | 96 ± 2 | 82 ± 16 | 80 ± 30 | 81 ± 9 | 83 ± 13 | 73 ± 3 | 97 ± 2 | 93 ± 2 |
| cube-single-play-singletask-task3-v0 | 9 ± 3 | 91 ± 5 | 93 ± 3 | 99 ± 1 | 96 ± 2 | 98 ± 1 | 87 ± 4 | 82 ± 12 | 88 ± 4 | 98 ± 2 | 95 ± 2 |
| cube-single-play-singletask-task4-v0 | 2 ± 1 | 73 ± 6 | 92 ± 3 | 93 ± 4 | 70 ± 18 | 91 ± 2 | 79 ± 6 | 79 ± 20 | 79 ± 6 | 94 ± 3 | 92 ± 3 |
| cube-single-play-singletask-task5-v0 | 3 ± 3 | 78 ± 9 | 87 ± 8 | 90 ± 6 | 61 ± 12 | 80 ± 20 | 78 ± 10 | 76 ± 33 | 77 ± 7 | 93 ± 3 | 90 ± 3 |
| OGBench Cube Double | |||||||||||
| cube-double-play-singletask-task1-v0 | 8 ± 3 | 27 ± 5 | 45 ± 6 | 39 ± 19 | 7 ± 6 | 21 ± 8 | 21 ± 7 | 47 ± 11 | 35 ± 9 | 61 ± 9 | 49 ± 1 |
| cube-double-play-singletask-task2-v0 (*) | 0 ± 0 | 1 ± 1 | 7 ± 3 | 16 ± 10 | 0 ± 0 | 2 ± 2 | 2 ± 1 | 22 ± 12 | 9 ± 5 | 36 ± 6 | 23 ± 5 |
| cube-double-play-singletask-task3-v0 | 0 ± 0 | 0 ± 0 | 4 ± 1 | 17 ± 8 | 0 ± 1 | 3 ± 1 | 1 ± 1 | 4 ± 2 | 8 ± 5 | 22 ± 5 | 9 ± 3 |
| cube-double-play-singletask-task4-v0 | 0 ± 0 | 0 ± 0 | 1 ± 1 | 0 ± 1 | 0 ± 0 | 0 ± 1 | 0 ± 0 | 0 ± 1 | 1 ± 1 | 5 ± 2 | 3 ± 1 |
| cube-double-play-singletask-task5-v0 | 0 ± 0 | 4 ± 3 | 4 ± 2 | 1 ± 1 | 0 ± 0 | 3 ± 2 | 2 ± 1 | 2 ± 2 | 17 ± 6 | 19 ± 10 | 43 ± 2 |
| OGBench Scene | |||||||||||
| scene-play-singletask-task1-v0 | 19 ± 6 | 94 ± 3 | 95 ± 2 | 100 ± 0 | 94 ± 4 | 100 ± 1 | 87 ± 8 | 96 ± 8 | 98 ± 3 | 100 ± 0 | 100 ± 0 |
| scene-play-singletask-task2-v0 (*) | 1 ± 1 | 12 ± 3 | 50 ± 13 | 33 ± 14 | 2 ± 2 | 50 ± 40 | 18 ± 8 | 46 ± 10 | 0 ± 0 | 76 ± 9 | 89 ± 3 |
| scene-play-singletask-task3-v0 | 1 ± 1 | 32 ± 7 | 55 ± 16 | 94 ± 4 | 4 ± 4 | 49 ± 16 | 38 ± 9 | 78 ± 14 | 54 ± 19 | 98 ± 1 | 93 ± 3 |
| scene-play-singletask-task4-v0 | 2 ± 2 | 0 ± 1 | 3 ± 3 | 4 ± 3 | 0 ± 0 | 0 ± 0 | 6 ± 1 | 4 ± 4 | 0 ± 0 | 5 ± 1 | 83 ± 10 |
| scene-play-singletask-task5-v0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 2 ± 2 |
| OGBench Puzzle 3x3 | |||||||||||
| puzzle-3x3-play-singletask-task1-v0 | 5 ± 2 | 33 ± 6 | 97 ± 4 | 52 ± 12 | 89 ± 5 | 97 ± 2 | 25 ± 9 | 63 ± 19 | 94 ± 3 | 90 ± 4 | 87 ± 9 |
| puzzle-3x3-play-singletask-task2-v0 | 1 ± 1 | 4 ± 3 | 1 ± 1 | 0 ± 1 | 0 ± 1 | 0 ± 0 | 4 ± 2 | 2 ± 2 | 1 ± 2 | 16 ± 5 | 39 ± 2 |
| puzzle-3x3-play-singletask-task3-v0 | 1 ± 1 | 3 ± 2 | 3 ± 1 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 1 ± 0 | 1 ± 1 | 0 ± 0 | 10 ± 3 | 20 ± 3 |
| puzzle-3x3-play-singletask-task4-v0 (*) | 1 ± 1 | 2 ± 1 | 2 ± 1 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 1 ± 1 | 2 ± 2 | 0 ± 0 | 16 ± 5 | 10 ± 6 |
| puzzle-3x3-play-singletask-task5-v0 | 1 ± 0 | 3 ± 2 | 5 ± 3 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 1 ± 1 | 2 ± 2 | 0 ± 0 | 16 ± 3 | 19 ± 1 |
| OGBench Puzzle 4x4 | |||||||||||
| puzzle-4x4-play-singletask-task1-v0 | 1 ± 1 | 12 ± 2 | 26 ± 4 | 48 ± 5 | 24 ± 9 | 44 ± 10 | 1 ± 2 | 32 ± 9 | 49 ± 9 | 34 ± 8 | 72 ± 8 |
| puzzle-4x4-play-singletask-task2-v0 | 0 ± 0 | 7 ± 4 | 12 ± 4 | 14 ± 5 | 0 ± 1 | 0 ± 0 | 0 ± 1 | 5 ± 3 | 4 ± 4 | 16 ± 5 | 4 ± 2 |
| puzzle-4x4-play-singletask-task3-v0 | 0 ± 0 | 9 ± 3 | 15 ± 3 | 34 ± 5 | 21 ± 10 | 29 ± 12 | 1 ± 1 | 20 ± 10 | 50 ± 14 | 18 ± 5 | 47 ± 10 |
| puzzle-4x4-play-singletask-task4-v0 (*) | 0 ± 0 | 5 ± 2 | 10 ± 3 | 26 ± 6 | 7 ± 4 | 1 ± 1 | 0 ± 0 | 5 ± 1 | 21 ± 11 | 11 ± 3 | 10 ± 3 |
| puzzle-4x4-play-singletask-task5-v0 | 0 ± 0 | 4 ± 1 | 7 ± 3 | 24 ± 11 | 1 ± 1 | 0 ± 0 | 0 ± 1 | 4 ± 3 | 2 ± 2 | 7 ± 3 | 2 ± 1 |
| D4RL AntMaze | |||||||||||
| antmaze-umaze-v2 | 55 | 77 | 98 | 94 | 97 | 66 ± 5 | 90 ± 6 | 94 ± 3 | 92 ± 6 | 96 ± 2 | 96 ± 2 |
| antmaze-umaze-diverse-v2 | 47 | 54 | 84 | 80 | 82 | 66 ± 11 | 55 ± 7 | 82 ± 9 | 62 ± 12 | 89 ± 5 | 86 ± 9 |
| antmaze-medium-play-v2 | 0 | 66 | 90 | 84 | 81 | 49 ± 24 | 52 ± 12 | 77 ± 7 | 56 ± 15 | 78 ± 7 | 81 ± 5 |
| antmaze-medium-diverse-v2 | 1 | 74 | 84 | 85 | 75 | 0 ± 1 | 44 ± 15 | 77 ± 6 | 60 ± 25 | 71 ± 13 | 75 ± 8 |
| antmaze-large-play-v2 | 0 | 42 | 52 | 64 | 54 | 0 ± 0 | 10 ± 6 | 32 ± 21 | 55 ± 9 | 84 ± 7 | 83 ± 6 |
| antmaze-large-diverse-v2 | 0 | 30 | 64 | 68 | 54 | 0 ± 0 | 16 ± 10 | 20 ± 17 | 64 ± 8 | 83 ± 4 | 84 ± 6 |
| D4RL Adroit | |||||||||||
| pen-human-v1 | 71 | 78 | 103 | 76 ± 10 | 69 ± 7 | 64 ± 8 | 67 ± 5 | 77 ± 7 | 71 ± 12 | 53 ± 6 | 51 ± 10 |
| pen-cloned-v1 | 52 | 83 | 103 | 64 ± 7 | 61 ± 7 | 56 ± 10 | 62 ± 10 | 67 ± 9 | 80 ± 11 | 74 ± 11 | 63 ± 9 |
| pen-expert-v1 | 110 | 128 | 152 | 140 ± 6 | 134 ± 4 | 103 ± 9 | 118 ± 6 | 119 ± 7 | 139 ± 5 | 142 ± 6 | 145 ± 6 |
| door-human-v1 | 2 | 3 | -0 | 6 ± 2 | 3 ± 3 | 5 ± 2 | 2 ± 1 | 4 ± 2 | 7 ± 2 | 0 ± 0 | 0 ± 0 |
| door-cloned-v1 | -0 | 3 | 0 | 0 ± 0 | 0 ± 0 | 1 ± 0 | 0 ± 1 | 0 ± 0 | 2 ± 2 | 2 ± 1 | 0 ± 0 |
| door-expert-v1 | 105 | 107 | 106 | 105 ± 1 | 105 ± 0 | 98 ± 3 | 103 ± 1 | 104 ± 1 | 104 ± 2 | 104 ± 1 | 105 ± 1 |
| hammer-human-v1 | 3 | 2 | 0 | 2 ± 1 | 1 ± 1 | 2 ± 0 | 2 ± 1 | 2 ± 1 | 3 ± 1 | 1 ± 1 | 1 ± 1 |
| hammer-cloned-v1 | 1 | 2 | 5 | 2 ± 1 | 2 ± 1 | 1 ± 1 | 1 ± 0 | 2 ± 1 | 2 ± 1 | 11 ± 9 | 1 ± 1 |
| hammer-expert-v1 | 127 | 129 | 134 | 125 ± 4 | 127 ± 0 | 92 ± 11 | 118 ± 3 | 119 ± 9 | 117 ± 9 | 125 ± 3 | 127 ± 9 |
| relocate-human-v1 | 0 | 0 | 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 | 0 ± 0 |
| relocate-cloned-v1 | -0 | 0 | 2 | -0 ± 0 | -0 ± 0 | -0 ± 0 | -0 ± 0 | 1 ± 1 | -0 ± 0 | -0 ± 0 | 0 ± 0 |
| relocate-expert-v1 | 108 | 106 | 108 | 107 ± 1 | 106 ± 2 | 93 ± 6 | 105 ± 3 | 105 ± 2 | 104 ± 3 | 107 ± 1 | 102 ± 5 |
| D4RL Locomotion | |||||||||||
| halfcheetah-medium-v2 | 42 | 47 | 64 | 51 | 60 | - | - | - | 55 ± 1 | 59 ± 1 | 59 ± 1 |
| halfcheetah-medium-replay-v2 | 36 | 45 | 51 | 46 | 51 | - | - | - | 44 ± 1 | 50 ± 1 | 53 ± 1 |
| halfcheetah-medium-expert-v2 | 56 | 96 | 104 | 96 | 92 | - | - | - | 79 ± 2 | 89 ± 1 | 96 ± 1 |
| hopper-medium-v2 | 54 | 59 | 102 | 65 | 96 | - | - | - | 37 ± 6 | 62 ± 6 | 75 ± 6 |
| hopper-medium-replay-v2 | 30 | 95 | 95 | 92 | 102 | - | - | - | 25 ± 1 | 36 ± 6 | 83 ± 6 |
| hopper-medium-expert-v2 | 52 | 99 | 110 | 109 | 100 | - | - | - | 69 ± 2 | 71 ± 11 | 110 ± 3 |
| walker2d-medium-v2 | 63 | 81 | 86 | 83 | 84 | - | - | - | 35 ± 2 | 69 ± 5 | 81 ± 1 |
| walker2d-medium-replay-v2 | 22 | 73 | 84 | 85 | 85 | - | - | - | 13 ± 1 | 39 ± 5 | 58 ± 7 |
| walker2d-medium-expert-v2 | 99 | 110 | 112 | 113 | 114 | - | - | - | 94 ± 8 | 96 ± 4 | 110 ± 1 |
Values are averaged over 8 seeds unless otherwise noted in the paper. Values at or above 95% of the best performance in each row are bolded.