ResearchBenchmarksReturn Alignment on walker2d mediumFollow6.25Return Alignment RMSEQ-ALIGN DT4.86614.20823.5532.892May 27, 2026Evaluation ResultsMethodMethodLinksReturn Alignment RMSEQ-ALIGN DT2026.056.25DC2026.0516.72RADT2026.0518.68DT2026.0530.69QT2026.0538.25QCS2026.0540.85