ResearchBenchmarksIsaac-Lift-Cube-Franka-v0 on IsaacLabIsaac-Lift-Cube-Franka-v0 on IsaacLabFollow98.6AUC (0:N)PPO-5.358421.630848.6275.6092Jun 7, 2026Evaluation resultsMethodMethodLinksAUC (0:N)TtauFinal ScoreGain AUC (%)PPOTuning=HARBORTuning=HARBOR2026.0698.614.461227,331.4SACTuning=HARBORTuning=HARBOR2026.0647.429.78794,535.7TD3Tuning=HARBORTuning=HARBOR2026.061219.4620.61,392.8TD3Tuning=DefaultTuning=Default2026.06-0.93—-0.35—SACTuning=DefaultTuning=Default2026.06-1.07—-0.76—PPOTuning=DefaultTuning=Default2026.06-1.36—-0.41—