ResearchBenchmarksManipulation on Humanoid-Bench Door (test)Follow680ReturnMetaWorld145.232284.066422.9561.734Jan 24, 2026Evaluation ResultsMethodMethodLinksReturnConvergence (M)Percentage ImprovementMetaWorld2026.016801.7278.3TD-MPC22026.01179.82—DreamerV32026.01165.89—