ResearchBenchmarksPendulum Swing-Up T=5000 1.0 (long-horizon)Pendulum Swing-Up T=5000 1.0 (long-horizon)Follow-1,086.69Average Stability ScorePID-1,129.8436-838.5568-547.27-255.9832Apr 27, 2026Evaluation resultsMethodMethodLinksAverage Stability ScorePIDHorizon (T)=5000Horizon (T)=50002026.04-1,086.69SMCHorizon (T)=5000Horizon (T)=50002026.04-1,086.69Bang-BangHorizon (T)=5000Horizon (T)=50002026.04-1,086.69LQRHorizon (T)=5000Horizon (T)=50002026.04-1,086.69Energy ShapingHorizon (T)=5000Horizon (T)=50002026.04-8.48A2DEPTHorizon (T)=5000Horizon (T)=50002026.04-7.85