ResearchBenchmarksHuman-Robot Task Planning and Allocation on HRTPA H1,R3 (test)Follow1,469.6MakespanPPO-Lag1,458.86241,531.34121,603.821,676.2988Apr 14, 2026Evaluation ResultsMethodMethodLinksMakespanOverworkPPO-Lag2026.041,469.684D3QN2026.041,511.2484PF-CD3Q2026.041,549.680DQN2026.041,587.9862PF-PPO-Lag2026.041,593.90PF-PPO2026.041,603.560PF-DQN2026.041,641.90PPO2026.041,738.0456