ResearchBenchmarksContinuous Control on Humanoid-2dFollow10,800Computation Time (s)CAPQL3,31253,856104,400154,944Feb 8, 2026Evaluation ResultsMethodMethodLinksComputation Time (s)HVEUSPCAPQL2026.0210,800——0PG-MORL2026.0225,200———GPI-LS2026.0264,800——0D3PO2026.02108,000———C-MORL2026.02198,000———