ResearchBenchmarksWalk on Humanoid-benchFollow1,118.7Maximum ReturnIRM-14.796279.477573.75868.023Mar 9, 2026Evaluation ResultsMethodMethodLinksMaximum ReturnConvergence StepsIRM2026.031,118.70.5TD-MPC22026.03644.21.8DreamerV32026.03428.26SAC2026.0332.75.4PPO2026.0328.85.3