ResearchBenchmarksReturn Alignment on walker2d medium-replayFollow6.39Return Alignment RMSEQ-ALIGN DT5.208413.184221.1629.1358May 27, 2026Evaluation ResultsMethodMethodLinksReturn Alignment RMSEQ-ALIGN DT2026.056.39DC2026.0514.05RADT2026.0514.27DT2026.0518.67QCS2026.0520.55QT2026.0535.93