ResearchBenchmarksReturn Alignment on halfcheetah medium-replayFollow17.8RMSE (Return Alignment)Q-ALIGN DT16.50625.240533.97542.7095May 27, 2026Evaluation ResultsMethodMethodLinksRMSE (Return Alignment)Q-ALIGN DT2026.0517.8QCS2026.0528.12QT2026.0528.25DC2026.0528.67DT2026.0530.93RADT2026.0550.15