ResearchBenchmarksHuman-Robot Task Planning and Allocation on HRTPA H2,R2 (test)Follow1,168.44MakespanD3QN1,166.22641,181.16821,196.111,211.0518Apr 14, 2026Evaluation ResultsMethodMethodLinksMakespanOverworkD3QN2026.041,168.444DQN2026.041,172.340PF-DQN2026.041,173.220PPO-Lag2026.041,174.70PF-CD3Q2026.041,192.80PPO2026.041,215.420PF-PPO-Lag2026.041,217.680PF-PPO2026.041,223.780