ResearchBenchmarksRobot Control Aggregate on Humanoid-Bench Average (test)Follow966.1ReturnMetaWorld375.276528.663682.05835.437Jan 24, 2026Evaluation ResultsMethodMethodLinksReturnConvergence (M)Percentage ImprovementMetaWorld2026.01966.11.5135.6TD-MPC22026.014101.9—DreamerV32026.013986.6—