ResearchBenchmarksCheetah on PlaygroundFollow890.2Average RewardFPO382.056513.978645.9777.822Mar 5, 2026Evaluation ResultsMethodMethodLinksAverage RewardFPO2026.03890.2Flow+ResPolicy variant=combine...Policy variant=combined optimal2026.03848.1FlowPolicy variant=diffusi...Policy variant=diffusion-only2026.03822.6DPPO2026.03401.6