ResearchBenchmarksReinforcement Learning on Humanoid v5 (Learning Efficiency)Reinforcement Learning on Humanoid v5 (Learning Efficiency)Follow2,080Training Episodes RequiredSAC2,049.22,257.12,4652,672.9Mar 12, 2026Evaluation resultsMethodMethodLinksTraining Episodes RequiredSACConfiguration=VanillaConfiguration=Vanilla2026.032,080SACConfiguration=H-EARSConfiguration=H-EARS2026.032,120TD3Configuration=H-EARSConfiguration=H-EARS2026.032,220TD3Configuration=VanillaConfiguration=Vanilla2026.032,850