Control Smoothness on Rollouts (Held-out)
1.46Action RateNo-smoothness baseline
Evaluation Results
| Method | Links | |
|---|---|---|
| No-smoothness baseline2026.07 | 1.46 | |
| RL fine-tuning2026.07 | 1.03 | |
| Multi-teacher student2026.07 | 0.66 | |
| Single-teacher student2026.07 | 0.56 | |
| SONIC-Base2026.07 | 0.54 |