ResearchBenchmarksControl Task on Hopper (test)Control Task on Hopper (test)Follow864.12Average RewardTRPO15.0952235.5151455.935676.3549Feb 5, 2026Evaluation resultsMethodMethodLinksAverage RewardTRPOVRER=trueVRER=true2026.02864.12TRPOVRER=falseVRER=false2026.02700.52PPOVRER=trueVRER=true2026.02168.96PPOVRER=falseVRER=false2026.02135.72A2CVRER=trueVRER=true2026.0280.58A2CVRER=falseVRER=false2026.0247.75