OGBench: Benchmarking Offline Goal-Conditioned RL
Anonymous Authors

Manipulation Tasks

Cube

cube-quadruple-play
Example dataset trajectory

cube-quadruple
Task: permute cubes

cube-quadruple
Task: stack cubes

Scene

scene-play
Example dataset trajectory

scene
Task: unlock drawer and put cube in it

scene
Task: unlock, open, and lock
drawer and window, then move cube

Puzzle

puzzle-4x6-play
Example dataset trajectory

puzzle-3x3
Task: turn all buttons blue

puzzle-4x5
Task: turn all buttons blue

Visual Manipulation

visual-cube-double-play
Example dataset trajectory

visual-scene-play
Example dataset trajectory

visual-puzzle-4x4-play
Example dataset trajectory

Locomotion Tasks

AntMaze

antmaze-teleport-navigate
Example dataset trajectory

antmaze-giant-navigate
Example dataset trajectory

AntMaze (Dataset Types)

navigate

antmaze-large-navigate
Example dataset trajectory

stitch

antmaze-large-stitch
Example dataset trajectories

explore

antmaze-large-explore
Example dataset trajectories

HumanoidMaze

humanoid-medium-navigate
Example dataset trajectory

humanoidmaze-giant-navigate
Example dataset trajectory

AntSoccer

antsoccer-arena-stitch
Example dataset trajectory

antsoccer-medium-navigate
Example dataset trajectory

Visual Locomotion

visual-antmaze-teleport-navigate
Example dataset trajectory

visual-humanoidmaze-medium-navigate
Example dataset trajectory

Drawing Tasks

Powderworld

powderworld-hard-play
Example dataset trajectories

powderworld-hard
Task: bubbles

powderworld-hard
Task: firework

powderworld-hard
Task: three-rooms

powderworld-hard
Task: four-squares

powderworld-hard
Task: ice-plant

Benchmarking Results

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