ResearchBenchmarksOffline Goal-Conditioned Reinforcement Learning on humanoidmaze medium-navigate v0Offline Goal-Conditioned Reinforcement Learning on humanoidmaze medium-navigate v0Follow91Success RateHSVL4.6827.0949.571.91Apr 19, 2026Evaluation resultsMethodMethodLinksSuccess RateHSVL2026.0491HIQL2026.0489CRL2026.0460GCIQL2026.0427GCIVL2026.0424QRL2026.0421GCBC2026.048