|                     | TRPO | PPO   | GAIL  | GAIL PPO | WGAIL | WGAIL PPO |
|---------------------|------|-------|-------|----------|-------|-----------|
| Pendulum            | -120 | -1000 | -120  | -1000    | -120  | -1000     |
| intersimple-minobs  | +1@30|       | +6@26 | +1@20    | -7000@26, -2000@60 | -6000@30, -5000@60 |
| intersimple-setobs  |      |       | -200@20 |        |       |           |
| intersimple-minobs2 |      |       | -1500@800 |      |       |           |
| intersimple-setobs2 |      |       | -500@800 | -750@800 | -1300@800 | -2500@600, unstable |