ResearchBenchmarksCarry on Humanoid-benchFollow963.5Maximum ReturnIRM-11.604241.548494.7747.852Mar 9, 2026Evaluation ResultsMethodMethodLinksMaximum ReturnConvergence StepsIRM2026.03963.50.5TD-MPC22026.034381.9DreamerV32026.03427.86SAC2026.0343.45.3PPO2026.0325.95.4