ResearchBenchmarksLocomotion on MuJoCo halfcheetah-medium-expertFollow95.3Normalized ScoreCPQL83.02886.21489.492.586May 14, 2026Evaluation ResultsMethodMethodLinksNormalized ScoreCPQLsetting=offlinesetting=offline2026.0595.3X-QLsetting=offlinesetting=offline2026.0594.2SQLsetting=offlinesetting=offline2026.0594EQLsetting=offlinesetting=offline2026.0590.6InACsetting=offlinesetting=offline2026.0583.5