ResearchBenchmarksSit on Humanoid-benchFollow862.2Maximum ReturnIRM-4.536220.482445.5670.518Mar 9, 2026Evaluation ResultsMethodMethodLinksMaximum ReturnConvergence StepsIRM2026.03862.20.6TD-MPC22026.03733.91.1DreamerV32026.03709.65.2SAC2026.03275.96PPO2026.0328.85.3