ResearchBenchmarksWlkWalk on PlaygroundFollow894Average RewardFlow+Res85.088295.094505.1715.106Mar 5, 2026Evaluation ResultsMethodMethodLinksAverage RewardFlow+ResPolicy variant=combine...Policy variant=combined optimal2026.03894FPO2026.03880.1FlowPolicy variant=diffusi...Policy variant=diffusion-only2026.03865.9DPPO2026.03116.2