ResearchBenchmarksOffline Goal-Conditioned Reinforcement Learning on humanoidmaze giantFollow9,500Success RateNS-3802,1854,7507,315Dec 11, 2025Evaluation ResultsMethodMethodLinksSuccess RateNSBackup=n-step return b...Backup=n-step return backup2025.129,500DQCMethod=Decoupled Q-chu...Method=Decoupled Q-chunking2025.129,200DQC-naïveExecution=partial acti...Execution=partial action chunk2025.128,000QCStrategy=Q-chunkingStrategy=Q-chunking2025.124,800HIQL2025.122,400SHARSA2025.121,900HFBC2025.12600IQL2025.12300FBC2025.12100OSBackup=1-step TD-backupBackup=1-step TD-backup2025.120