ResearchBenchmarksReturn Alignment on walker2d medium-expertFollow6.84RMSEQ-ALIGN DT4.565219.920135.27550.6299May 27, 2026Evaluation ResultsMethodMethodLinksRMSEQ-ALIGN DT2026.056.84RADT2026.0510.15DC2026.0513.62DT2026.0518.88QCS2026.0548.37QT2026.0563.71