ResearchBenchmarksMulti-agent optimization analysis on OSP, SCT, and SLH GlobalMulti-agent optimization analysis on OSP, SCT, and SLH GlobalFollow86Overall SRHALyPO76.74479.14781.5583.953Mar 4, 2026Evaluation resultsMethodMethodLinksOverall SRConvergence Steps (B)Final ReturnCosine AlignmentGap VGCRHALyPOSteady-state steps=2BSteady-state steps=2B2026.03861.34.020.910.094.2PCGradSteady-state steps=2BSteady-state steps=2B2026.0382.11.23.760.840.225HATRPOSteady-state steps=2BSteady-state steps=2B2026.0380.81.33.60.681.5354.2HAPPOSteady-state steps=2BSteady-state steps=2B2026.0377.11.83.440.674.8972.5