ResearchBenchmarksLocomotion on hopper medium-expert v2Follow113.5Normalized ReturnQDQ42.15660.67879.297.722May 14, 2026Evaluation ResultsMethodMethodLinksNormalized ReturnQDQGradient steps=1MGradient steps=1M2026.05113.5CPQLGradient steps=1MGradient steps=1M2026.05111.3PBRLGradient steps=1MGradient steps=1M2026.05111.2EDACGradient steps=3MGradient steps=3M2026.05110.7TTGradient steps=1MGradient steps=1M2026.05110DTGradient steps=1MGradient steps=1M2026.05107.6UWACGradient steps=1MGradient steps=1M2026.0544.9