ResearchBenchmarksHumanoid-stand on Humanoid-BenchFollow966Total ReturnBRO-33.44226.03485.5744.97Jun 29, 2026Evaluation ResultsMethodMethodLinksTotal ReturnBRO2026.06966SAC2026.06964BRO-Fast2026.06962FlowRL2026.06960Dual-Flow RL2026.06951TD32026.06929QSM2026.06746QVPO2026.0612MPO2026.069TRPO2026.069A2C2026.068D4PG2026.067DDPG2026.065