Nope [wikipedia.org]. You get about 9.7MJ/L for compressed hydrogen, and about 40% of that (4.3 MJ/L) for LiPo batteries.
And about 34-36 MJ/L for gasoline and diesel. That's more than four times as much energy per volume.
And if you need 700+ kg of tank to store your hydrogen - you're doing it wrong. Here's a massive 850L tank that would be equivalent energy storage to about 4800 kg of batteries - and it weighs 215 kg. Not even close.
See, here's the thing, with gasoline/diesel/kerosene, the total weight of the tank and fuel goes rapidly down as you use fuel. With hydrogen, almost all the weight is the container, so your efficiency is lower simply because you always have to move that extra mass around, even when near empty. Planes, for example, take care to not overfill so they won't have to haul more mass than needed. With hydrogen, there's little choice.