ResearchBenchmarksContinuous Control on HalfCheetah v3Continuous Control on HalfCheetah v3Follow9,832Average ReturnIRA-45.922,518.545,0837,647.46Jan 27, 2026Feb 8, 2026Feb 20, 2026Mar 4, 2026Mar 16, 2026Mar 28, 2026Apr 10, 2026Evaluation resultsMethodMethodLinksAverage ReturnIRA2026.019,832PEER2026.017,456TD32026.017,442ALH2026.017,202MBPO2026.016,782DDPG2026.016,438FedRL-PPO w/ PONPON=truePON=true2026.043,938.03FedRL-PPO2026.042,239.04PPO2026.041,923.08PPO2026.01334