ResearchBenchmarksContinuous Control on HalfCheetah (Steps to Threshold and Efficiency)Follow126,000Steps to ThresholdQAvatar124,000137,500151,000164,500Mar 12, 2026Evaluation ResultsMethodMethodLinksSteps to ThresholdEfficiency Ratio (QAvatar/SAC)QAvatarReward Threshold=6000Reward Threshold=60002026.03126,0000.71SACReward Threshold=6000Reward Threshold=60002026.03176,000—