ResearchBenchmarksContinuous Control on Humanoid v3Follow4,963Average ReturnIRA69.81,340.152,610.53,880.85Jan 27, 2026Evaluation ResultsMethodMethodLinksAverage ReturnIRA2026.014,963TD32026.014,843ALH2026.014,742PEER2026.014,613MBPO2026.01406PPO2026.01394DDPG2026.01258