ResearchBenchmarksReinforcement Learning on Humanoid v5 (Coefficient of Variation)Follow6.3Coefficient of Variation (%)TD33.85620.35336.8553.347Mar 12, 2026Evaluation ResultsMethodMethodLinksCoefficient of Variation (%)TD3Variant=H-EARSVariant=H-EARS2026.036.3TD3Variant=VanillaVariant=Vanilla2026.037.2SACVariant=H-EARSVariant=H-EARS2026.039SACVariant=VanillaVariant=Vanilla2026.0310.1DDPGVariant=VanillaVariant=Vanilla2026.0332DDPGVariant=H-EARSVariant=H-EARS2026.0332.3PPOVariant=VanillaVariant=Vanilla2026.0345.2PPOVariant=H-EARSVariant=H-EARS2026.0367.4