CORL (Clean Offline Reinforcement Learning)

⚠️ This is an active and supported fork of the original CORL library. The original repository is on freeze and will not be update further.

🧵 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!

• 📜 Single-file implementation
• 📈 Benchmarked Implementation (11+ offline algorithms, 5+ offline-to-online algorithms, 30+ datasets with detailed logs)
• 🖼 Weights and Biases integration

You can read more about CORL design and main results in our technical paper.

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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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⚠️ NOTE: CORL (similarily to CleanRL) is not a modular library and therefore it is not meant to be imported. At the cost of duplicate code, we make all implementation details of an ORL algorithm variant easy to understand. You should consider using CORL if you want to 1) understand and control all implementation details of an algorithm or 2) rapidly prototype advanced features that other modular ORL libraries do not support.

Getting started

Please refer to the documentation for more details. TLDR:

git clone https://github.com/corl-team/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 (CQL)	offline/cql.py finetune/cql.py	Offline Offline-to-online
✅ Accelerating Online Reinforcement Learning with Offline Datasets (AWAC)	offline/awac.py finetune/awac.py	Offline Offline-to-online
✅ Offline Reinforcement Learning with Implicit Q-Learning (IQL)	offline/iql.py finetune/iql.py	Offline Offline-to-online
✅ Revisiting the Minimalist Approach to Offline Reinforcement Learning (ReBRAC)	offline/rebrac.py finetune/rebrac.py	Offline Offline-to-online
Offline-to-Online only
✅ Supported Policy Optimization for Offline Reinforcement Learning (SPOT)	finetune/spot.py	Offline-to-online
✅ Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning (Cal-QL)	finetune/cal_ql.py	Offline-to-online
Offline only
✅ Behavioral Cloning (BC)	offline/any_percent_bc.py	Offline
✅ Behavioral Cloning-10% (BC-10%)	offline/any_percent_bc.py	Offline
✅ A Minimalist Approach to Offline Reinforcement Learning (TD3+BC)	offline/td3_bc.py	Offline
✅ Decision Transformer: Reinforcement Learning via Sequence Modeling (DT)	offline/dt.py	Offline
✅ Uncertainty-Based Offline Reinforcement Learning with Diversified Q-Ensemble (SAC-N)	offline/sac_n.py	Offline
✅ Uncertainty-Based Offline Reinforcement Learning with Diversified Q-Ensemble (EDAC)	offline/edac.py	Offline
✅ Q-Ensemble for Offline RL: Don't Scale the Ensemble, Scale the Batch Size (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	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 ± 9.07	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
locomotion average	50.40	69.29	76.45	79.39	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	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	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	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 average	1.13	12.58	61.99	121.92	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	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 average	17.21	19.71	19.33	18.58	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	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 average	48.18	42.69	10.40	55.71	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	50.81 ± 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-replay-v2	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-replay-v2	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-replay-v2	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
locomotion average	70.15	80.65	84.83	87.80	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	136.96 ± 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 average	18.67	30.65	149.30	172.33	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	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 average	23.96	30.58	30.08	31.42	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	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 average	58.92	54.58	20.51	67.69	13.65	62.62	69.71	27.49	33.88	52.60

Offline-to-Online

Scores

Task-Name	AWAC	CQL	IQL	SPOT	Cal-QL	ReBRAC
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	98.00 ± 1.58 → 74.75 ± 42.59
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	73.75 ± 13.27 → 98.00 ± 2.92
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	87.50 ± 3.77 → 98.00 ± 1.58
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	85.25 ± 2.17 → 98.75 ± 0.43
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	68.50 ± 6.18 → 31.50 ± 33.56
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	67.00 ± 10.61 → 72.25 ± 41.73
antmaze average	18.12 → 16.46	48.38 → 95.58	56.29 → 78.50	52.88 → 92.38	53.04 → 97.33	80.00 → 78.88
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	74.04 ± 11.97 → 138.15 ± 3.22
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	0.07 ± 0.04 → 102.39 ± 8.27
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	6.54 ± 3.35 → 124.65 ± 7.37
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	0.70 ± 0.62 → 6.96 ± 4.59
adroit average	22.84 → 21.76	-0.72 → 0.22	21.69 → 44.99	2.43 → 11.81	-0.76 → -0.79	20.33 → 93.04

Regrets

Task-Name	AWAC	CQL	IQL	SPOT	Cal-QL	ReBRAC
antmaze-umaze-v2	0.04 ± 0.01	0.02 ± 0.00	0.07 ± 0.00	0.02 ± 0.00	0.01 ± 0.00	0.11 ± 0.18
antmaze-umaze-diverse-v2	0.88 ± 0.01	0.09 ± 0.01	0.43 ± 0.11	0.22 ± 0.07	0.05 ± 0.01	0.04 ± 0.02
antmaze-medium-play-v2	1.00 ± 0.00	0.08 ± 0.01	0.09 ± 0.01	0.06 ± 0.00	0.04 ± 0.01	0.03 ± 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	0.03 ± 0.00
antmaze-large-play-v2	1.00 ± 0.00	0.21 ± 0.02	0.34 ± 0.05	0.29 ± 0.07	0.13 ± 0.02	0.14 ± 0.05
antmaze-large-diverse-v2	1.00 ± 0.00	0.21 ± 0.03	0.41 ± 0.03	0.23 ± 0.08	0.13 ± 0.02	0.29 ± 0.39
antmaze average	0.82	0.11	0.24	0.15	0.07	0.11
pen-cloned-v1	0.46 ± 0.02	0.97 ± 0.00	0.37 ± 0.01	0.58 ± 0.02	0.98 ± 0.01	0.08 ± 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	0.19 ± 0.05
hammer-cloned-v1	1.00 ± 0.00	1.00 ± 0.00	0.65 ± 0.10	0.98 ± 0.01	1.00 ± 0.00	0.13 ± 0.03
relocate-cloned-v1	1.00 ± 0.00	1.00 ± 0.00	1.00 ± 0.00	1.00 ± 0.00	1.00 ± 0.00	0.90 ± 0.06
adroit average	0.86	0.99	0.71	0.89	0.99	0.33

Citing CORL

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

@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}
}