ResearchBenchmarksTrajectory outcome classification on Humanoid SACFollow91PrecisionMORALS90.906490.930790.95590.9793Feb 26, 2026Evaluation ResultsMethodMethodLinksPrecisionRecallF1 ScoreMORALSLatent Dim=2Latent Dim=22026.02919191V-MORALSLatent Dim=2Latent Dim=22026.0290.9138.4654.05