ResearchBenchmarksReturn Alignment on halfcheetah medium-expertFollow1.24Return Alignment RMSEQ-ALIGN DT-0.468411.063322.59534.1267May 27, 2026Evaluation ResultsMethodMethodLinksReturn Alignment RMSEQ-ALIGN DT2026.051.24RADT2026.0517.55DC2026.0517.88DT2026.0519.79QT2026.0521.24QCS2026.0543.95