CORL (Clean Offline Reinforcement Learning)

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🧵 CORL is an Offline Reinforcement Learning library that provides high-quality and easy-to-follow single-file implementations of SOTA ORL algorithms. Each implementation is backed by a research-friendly codebase, allowing you to run or tune thousands of experiments. Heavily inspired by cleanrl for online RL, check them out too!<br/>

• 📜 Single-file implementation
• 📈 Benchmarked Implementation for N algorithms
• 🖼 Weights and Biases integration

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• ⭐ If you're interested in discrete control, make sure to check out our new library — Katakomba. It provides both discrete control algorithms augmented with recurrence and an offline RL benchmark for the NetHack Learning environment.

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Getting started

bashCopy
git clone https://github.com/tinkoff-ai/CORL.git && cd CORL
pip install -r requirements/requirements_dev.txt

# alternatively, you could use docker
docker build -t <image_name> .
docker run --gpus=all -it --rm --name <container_name> <image_name>

Algorithms Implemented

Algorithm	Variants Implemented	Wandb Report
Offline and Offline-to-Online
✅ Conservative Q-Learning for Offline Reinforcement Learning <br>(CQL)	offline/cql.py <br /> finetune/cql.py	Offline <br /> <br /> Offline-to-online
✅ Accelerating Online Reinforcement Learning with Offline Datasets <br>(AWAC)	offline/awac.py <br /> finetune/awac.py	Offline <br /> <br /> Offline-to-online
✅ Offline Reinforcement Learning with Implicit Q-Learning <br>(IQL)	offline/iql.py <br /> finetune/iql.py	Offline <br /> <br /> Offline-to-online
Offline-to-Online only
✅ Supported Policy Optimization for Offline Reinforcement Learning <br>(SPOT)	finetune/spot.py	Offline-to-online
✅ Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning <br>(Cal-QL)	finetune/cal_ql.py	Offline-to-online
Offline only
✅ Behavioral Cloning <br>(BC)	offline/any_percent_bc.py	Offline
✅ Behavioral Cloning-10% <br>(BC-10%)	offline/any_percent_bc.py	Offline
✅ A Minimalist Approach to Offline Reinforcement Learning <br>(TD3+BC)	offline/td3_bc.py	Offline
✅ Decision Transformer: Reinforcement Learning via Sequence Modeling <br>(DT)	offline/dt.py	Offline
✅ Uncertainty-Based Offline Reinforcement Learning with Diversified Q-Ensemble <br>(SAC-N)	offline/sac_n.py	Offline
✅ Uncertainty-Based Offline Reinforcement Learning with Diversified Q-Ensemble <br>(EDAC)	offline/edac.py	Offline
✅ Revisiting the Minimalist Approach to Offline Reinforcement Learning <br>(ReBRAC)	offline/rebrac.py	Offline
✅ Q-Ensemble for Offline RL: Don't Scale the Ensemble, Scale the Batch Size <br>(LB-SAC)	offline/lb_sac.py	Offline Gym-MuJoCo

D4RL Benchmarks

You can check the links above for learning curves and details. Here, we report reproduced final and best scores. Note that they differ by a significant margin, and some papers may use different approaches, not making it always explicit which reporting methodology they chose. If you want to re-collect our results in a more structured/nuanced manner, see results.

Offline

Last Scores

Gym-MuJoCo

Task-Name	BC	10% BC	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	49.46 ± 0.62	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	44.70 ± 0.69	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	93.62 ± 0.41	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	74.45 ± 9.14	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	96.39 ± 5.28	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 ± 9.07	52.73 ± 37.47	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	66.53 ± 26.04	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	82.20 ± 1.05	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	49.41 ± 38.16	109.56 ± 0.39	111.72 ± 0.86	111.86 ± 0.43	114.93 ± 0.41	114.75 ± 0.74	107.11 ± 0.96
locomotion average	50.40	69.29	76.45	67.72	78.28	81.63	89.74	83.52	92.92	73.84

Maze2d

Task-Name	BC	10% BC	TD3+BC	AWAC	CQL	IQL	ReBRAC	SAC-N	EDAC	DT
maze2d-umaze-v1	0.36 ± 8.69	12.18 ± 4.29	29.41 ± 12.31	82.67 ± 28.30	-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	52.88 ± 55.12	86.11 ± 9.68	34.85 ± 2.72	105.11 ± 31.67	88.61 ± 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	209.13 ± 8.19	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 average	1.13	12.58	61.99	114.89	33.65	46.23	96.77	141.32	82.64	28.48

Antmaze

Task-Name	BC	10% BC	TD3+BC	AWAC	CQL	IQL	ReBRAC	SAC-N	EDAC	DT
antmaze-umaze-v2	55.25 ± 4.15	65.75 ± 5.26	70.75 ± 39.18	57.75 ± 10.28	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	58.00 ± 7.68	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 average	17.21	19.71	19.33	19.29	50.71	57.17	78.42	0.00	0.00	18.12

Adroit

Task-Name	BC	10% BC	TD3+BC	AWAC	CQL	IQL	ReBRAC	SAC-N	EDAC	DT
pen-human-v1	71.03 ± 6.26	26.99 ± 9.60	-3.88 ± 0.21	81.12 ± 13.47	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	89.56 ± 15.57	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	160.37 ± 1.21	-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	4.60 ± 1.90	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	0.93 ± 1.66	-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	104.85 ± 0.24	-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	3.37 ± 1.93	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	0.21 ± 0.24	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	127.06 ± 0.29	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	0.05 ± 0.03	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	-0.04 ± 0.04	-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	108.87 ± 0.85	-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 average	48.18	42.69	10.40	56.75	1.53	53.43	59.39	12.43	18.78	49.21

Best Scores

Gym-MuJoCo

Task-Name	BC	10% BC	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	50.06 ± 0.50	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-replay-v2	40.52 ± 0.19	42.27 ± 0.46	45.84 ± 0.26	46.35 ± 0.29	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	96.11 ± 0.37	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	97.90 ± 0.56	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-replay-v2	68.88 ± 10.33	90.57 ± 2.07	98.12 ± 1.16	100.91 ± 1.50	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	103.82 ± 12.81	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	83.37 ± 2.82	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-replay-v2	48.41 ± 7.61	76.09 ± 0.40	91.17 ± 0.72	86.51 ± 1.15	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	108.28 ± 9.45	111.63 ± 0.38	113.06 ± 0.53	112.49 ± 0.18	116.93 ± 0.42	116.52 ± 0.75	108.71 ± 0.34
locomotion average	70.15	80.65	84.83	85.92	84.68	86.28	93.00	95.60	96.36	77.49

Maze2d

Task-Name	BC	10% BC	TD3+BC	AWAC	CQL	IQL	ReBRAC	SAC-N	EDAC	DT
maze2d-umaze-v1	16.09 ± 0.87	22.49 ± 1.52	99.33 ± 16.16	136.61 ± 11.65	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	131.50 ± 25.38	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	227.93 ± 1.90	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 average	18.67	30.65	149.30	165.35	126.07	111.95	169.98	151.48	162.27	60.74

Antmaze

Task-Name	BC	10% BC	TD3+BC	AWAC	CQL	IQL	ReBRAC	SAC-N	EDAC	DT
antmaze-umaze-v2	68.50 ± 2.29	77.50 ± 1.50	98.50 ± 0.87	78.75 ± 6.76	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	88.25 ± 2.17	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	27.50 ± 9.39	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	33.25 ± 16.81	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	1.00 ± 0.71	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	0.50 ± 0.50	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 average	23.96	30.58	30.08	38.21	61.83	72.00	86.71	0.00	7.08	21.04

Adroit

Task-Name	BC	10% BC	TD3+BC	AWAC	CQL	IQL	ReBRAC	SAC-N	EDAC	DT
pen-human-v1	99.69 ± 7.45	59.89 ± 8.03	9.95 ± 8.19	121.05 ± 5.47	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	129.66 ± 1.27	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	162.69 ± 0.23	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	19.28 ± 1.46	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	12.61 ± 0.60	-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	106.77 ± 0.24	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	22.03 ± 8.13	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	14.67 ± 1.94	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	129.66 ± 0.33	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	2.09 ± 0.76	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	0.94 ± 0.68	-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	111.56 ± 0.17	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 average	58.92	54.58	20.51	69.42	13.65	62.62	69.71	27.49	33.88	52.60

Offline-to-Online

Scores

Task-Name	AWAC	CQL	IQL	SPOT	Cal-QL
antmaze-umaze-v2	52.75 ± 8.67 → 98.75 ± 1.09	94.00 ± 1.58 → 99.50 ± 0.87	77.00 ± 0.71 → 96.50 ± 1.12	91.00 ± 2.55 → 99.50 ± 0.50	76.75 ± 7.53 → 99.75 ± 0.43
antmaze-umaze-diverse-v2	56.00 ± 2.74 → 0.00 ± 0.00	9.50 ± 9.91 → 99.00 ± 1.22	59.50 ± 9.55 → 63.75 ± 25.02	36.25 ± 2.17 → 95.00 ± 3.67	32.00 ± 27.79 → 98.50 ± 1.12
antmaze-medium-play-v2	0.00 ± 0.00 → 0.00 ± 0.00	59.00 ± 11.18 → 97.75 ± 1.30	71.75 ± 2.95 → 89.75 ± 1.09	67.25 ± 10.47 → 97.25 ± 1.30	71.75 ± 3.27 → 98.75 ± 1.64
antmaze-medium-diverse-v2	0.00 ± 0.00 → 0.00 ± 0.00	63.50 ± 6.84 → 97.25 ± 1.92	64.25 ± 1.92 → 92.25 ± 2.86	73.75 ± 7.29 → 94.50 ± 1.66	62.00 ± 4.30 → 98.25 ± 1.48
antmaze-large-play-v2	0.00 ± 0.00 → 0.00 ± 0.00	28.75 ± 7.76 → 88.25 ± 2.28	38.50 ± 8.73 → 64.50 ± 17.04	31.50 ± 12.58 → 87.00 ± 3.24	31.75 ± 8.87 → 97.25 ± 1.79
antmaze-large-diverse-v2	0.00 ± 0.00 → 0.00 ± 0.00	35.50 ± 3.64 → 91.75 ± 3.96	26.75 ± 3.77 → 64.25 ± 4.15	17.50 ± 7.26 → 81.00 ± 14.14	44.00 ± 8.69 → 91.50 ± 3.91
antmaze average	18.12 → 16.46	48.38 → 95.58	56.29 → 78.50	52.88 → 92.38	53.04 → 97.33
pen-cloned-v1	88.66 ± 15.10 → 86.82 ± 11.12	-2.76 ± 0.08 → -1.28 ± 2.16	84.19 ± 3.96 → 102.02 ± 20.75	6.19 ± 5.21 → 43.63 ± 20.09	-2.66 ± 0.04 → -2.68 ± 0.12
door-cloned-v1	0.93 ± 1.66 → 0.01 ± 0.00	-0.33 ± 0.01 → -0.33 ± 0.01	1.19 ± 0.93 → 20.34 ± 9.32	-0.21 ± 0.14 → 0.02 ± 0.31	-0.33 ± 0.01 → -0.33 ± 0.01
hammer-cloned-v1	1.80 ± 3.01 → 0.24 ± 0.04	0.56 ± 0.55 → 2.85 ± 4.81	1.35 ± 0.32 → 57.27 ± 28.49	3.97 ± 6.39 → 3.73 ± 4.99	0.25 ± 0.04 → 0.17 ± 0.17
relocate-cloned-v1	-0.04 ± 0.04 → -0.04 ± 0.01	-0.33 ± 0.01 → -0.33 ± 0.01	0.04 ± 0.04 → 0.32 ± 0.38	-0.24 ± 0.01 → -0.15 ± 0.05	-0.31 ± 0.05 → -0.31 ± 0.04
adroit average	22.84 → 21.76	-0.72 → 0.22	21.69 → 44.99	2.43 → 11.81	-0.76 → -0.79

Regrets

Task-Name	AWAC	CQL	IQL	SPOT	Cal-QL
antmaze-umaze-v2	0.04 ± 0.01	0.02 ± 0.00	0.07 ± 0.00	0.02 ± 0.00	0.01 ± 0.00
antmaze-umaze-diverse-v2	0.88 ± 0.01	0.09 ± 0.01	0.43 ± 0.11	0.22 ± 0.07	0.05 ± 0.01
antmaze-medium-play-v2	1.00 ± 0.00	0.08 ± 0.01	0.09 ± 0.01	0.06 ± 0.00	0.04 ± 0.01
antmaze-medium-diverse-v2	1.00 ± 0.00	0.08 ± 0.00	0.10 ± 0.01	0.05 ± 0.01	0.04 ± 0.01
antmaze-large-play-v2	1.00 ± 0.00	0.21 ± 0.02	0.34 ± 0.05	0.29 ± 0.07	0.13 ± 0.02
antmaze-large-diverse-v2	1.00 ± 0.00	0.21 ± 0.03	0.41 ± 0.03	0.23 ± 0.08	0.13 ± 0.02
antmaze average	0.82	0.11	0.24	0.15	0.07
pen-cloned-v1	0.46 ± 0.02	0.97 ± 0.00	0.37 ± 0.01	0.58 ± 0.02	0.98 ± 0.01
door-cloned-v1	1.00 ± 0.00	1.00 ± 0.00	0.83 ± 0.03	0.99 ± 0.01	1.00 ± 0.00
hammer-cloned-v1	1.00 ± 0.00	1.00 ± 0.00	0.65 ± 0.10	0.98 ± 0.01	1.00 ± 0.00
relocate-cloned-v1	1.00 ± 0.00	1.00 ± 0.00	1.00 ± 0.00	1.00 ± 0.00	1.00 ± 0.00
adroit average	0.86	0.99	0.71	0.89	0.99

Citing CORL

If you use CORL in your work, please use the following bibtex

bibtexCopy
@inproceedings{
tarasov2022corl,
  title={{CORL}: Research-oriented Deep Offline Reinforcement Learning Library},
  author={Denis Tarasov and Alexander Nikulin and Dmitry Akimov and Vladislav Kurenkov and Sergey Kolesnikov},
  booktitle={3rd Offline RL Workshop: Offline RL as a ''Launchpad''},
  year={2022},
  url={https://openreview.net/forum?id=SyAS49bBcv}
}