ResearchBenchmarkshuman-robot task planning and allocation on HRTPA H3,R1 (test)Follow1,084.22MakespanPF-CD3Q1,071.83441,155.43721,239.041,322.6428Apr 14, 2026Evaluation ResultsMethodMethodLinksMakespanOverworkPF-CD3Q2026.041,084.220D3QN2026.041,084.460PF-PPO-Lag2026.041,127.720PF-PPO2026.041,128.720PPO2026.041,149.90PF-DQN2026.041,174.220DQN2026.041,180.70PPO-Lag2026.041,393.860