ResearchBenchmarksLocomotion control on Hopper v5Locomotion control on Hopper v5Follow35.64Evaluation CostSAC33.790646.2740558.757571.24095May 8, 2026Evaluation resultsMethodMethodLinksEvaluation CostSAC2026.0535.64PPO2026.0548.371MBPO2026.0573.531SDPIDynamics knowledge=knownDynamics knowledge=known2026.0578.52SDPIDynamics knowledge=unk...Dynamics knowledge=unknown2026.0581.875