ResearchBenchmarksHuman-Robot Task Planning and Allocation on HRTPA H1 R2 (test)Follow1,451.18MakespanPPO-Lag1,439.83681,516.40341,592.971,669.5366Apr 14, 2026Evaluation ResultsMethodMethodLinksMakespanOverworkPPO-Lag2026.041,451.18100DQN2026.041,490.568PF-CD3Q2026.041,505.940D3QN2026.041,506.2686PF-PPO-Lag2026.041,589.680PF-PPO2026.041,603.560PF-DQN2026.041,644.940PPO2026.041,734.7652