ResearchBenchmarksSoccer Push on Simulation EnvironmentsFollow91.1Success RateFPO0.20423.80247.470.998Jun 25, 2026Evaluation ResultsMethodMethodLinksSuccess RateFPO2026.0691.1SCORE (DSRL)DSRL=trueDSRL=true2026.0652.8SCORE2026.0650.4Res-RL2026.0639.4RialToPost-distillation=truePost-distillation=true2026.0632.5Base2026.063.7