ResearchBenchmarkshuman-robot task planning and allocation on HRTPA H3, R3 (test)Follow1,124.62MakespanPF-DQN1,123.5641,130.6921,137.821,144.948Apr 14, 2026Evaluation ResultsMethodMethodLinksMakespanOverworkPF-DQN2026.041,124.620PPO-Lag2026.041,125.540DQN2026.041,126.90D3QN2026.041,133.180PF-CD3Q2026.041,133.980PPO2026.041,141.80PF-PPO2026.041,143.560PF-PPO-Lag2026.041,151.020