docs: update BENCHMARKS.md — CrossQ consistency fixes

docs/BENCHMARKS.md

@@ -107,12 +107,12 @@ Search budget: ~3-4 trials per dimension (8 trials = 2-3 dims, 16 = 3-4 dims, 20
 
 ## Progress
 
-| Phase | Category | Envs | REINFORCE | SARSA | DQN | DDQN+PER | A2C | PPO | SAC | Overall |
-|-------|----------|------|-----------|-------|-----|----------|-----|-----|-----|---------|
-| 1 | Classic Control | 3 | ✅ | ✅ | ⚠️ | ✅ | ✅ | ✅ | ✅ | Done |
-| 2 | Box2D | 2 | N/A | N/A | ⚠️ | ✅ | ❌ | ⚠️ | ⚠️ | Done |
-| 3 | MuJoCo | 11 | N/A | N/A | N/A | N/A | N/A | ⚠️ | ⚠️ | Done |
-| 4 | Atari | 57 | N/A | N/A | N/A | Skip | Done | Done | Done | Done |
+| Phase | Category | Envs | REINFORCE | SARSA | DQN | DDQN+PER | A2C | PPO | SAC | CrossQ | Overall |
+|-------|----------|------|-----------|-------|-----|----------|-----|-----|-----|--------|---------|
+| 1 | Classic Control | 3 | ✅ | ✅ | ⚠️ | ✅ | ✅ | ✅ | ✅ | ⚠️ | Done |
+| 2 | Box2D | 2 | N/A | N/A | ⚠️ | ✅ | ❌ | ⚠️ | ⚠️ | ⚠️ | Done |
+| 3 | MuJoCo | 11 | N/A | N/A | N/A | N/A | N/A | ⚠️ | ⚠️ | ⚠️ | Done |
+| 4 | Atari | 57 | N/A | N/A | N/A | Skip | Done | Done | Done | ❌ | Done |
 
 **Legend**: ✅ Solved | ⚠️ Close (>80%) | 📊 Acceptable | ❌ Failed | 🔄 In progress/Pending | Skip Not started | N/A Not applicable
 
@@ -137,7 +137,7 @@ Search budget: ~3-4 trials per dimension (8 trials = 2-3 dims, 16 = 3-4 dims, 20
 | A2C | ✅ | 496.68 | [slm_lab/spec/benchmark_arc/a2c/a2c_classic_arc.yaml](../slm_lab/spec/benchmark_arc/a2c/a2c_classic_arc.yaml) | a2c_gae_cartpole_arc | [a2c_gae_cartpole_arc_2026_02_11_142531](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/a2c_gae_cartpole_arc_2026_02_11_142531) |
 | PPO | ✅ | 498.94 | [slm_lab/spec/benchmark_arc/ppo/ppo_classic_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_classic_arc.yaml) | ppo_cartpole_arc | [ppo_cartpole_arc_2026_02_11_144029](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_cartpole_arc_2026_02_11_144029) |
 | SAC | ✅ | 406.09 | [slm_lab/spec/benchmark_arc/sac/sac_classic_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_classic_arc.yaml) | sac_cartpole_arc | [sac_cartpole_arc_2026_02_11_144155](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_cartpole_arc_2026_02_11_144155) |
-| CrossQ | ✅ | 405.88 | [slm_lab/spec/benchmark/crossq/crossq_classic.yaml](../slm_lab/spec/benchmark/crossq/crossq_classic.yaml) | crossq_cartpole | [crossq_cartpole_arc_2026_02_21_100045](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_cartpole_arc_2026_02_21_100045) |
+| CrossQ | ⚠️ | 324.10 | [slm_lab/spec/benchmark/crossq/crossq_classic.yaml](../slm_lab/spec/benchmark/crossq/crossq_classic.yaml) | crossq_cartpole | [crossq_cartpole_2026_03_02_100434](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_cartpole_2026_03_02_100434) |
 
 ![CartPole-v1](plots/CartPole-v1_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -169,7 +169,7 @@ Search budget: ~3-4 trials per dimension (8 trials = 2-3 dims, 16 = 3-4 dims, 20
 | A2C | ❌ | -820.74 | [slm_lab/spec/benchmark_arc/a2c/a2c_classic_arc.yaml](../slm_lab/spec/benchmark_arc/a2c/a2c_classic_arc.yaml) | a2c_gae_pendulum_arc | [a2c_gae_pendulum_arc_2026_02_11_162217](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/a2c_gae_pendulum_arc_2026_02_11_162217) |
 | PPO | ✅ | -174.87 | [slm_lab/spec/benchmark_arc/ppo/ppo_classic_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_classic_arc.yaml) | ppo_pendulum_arc | [ppo_pendulum_arc_2026_02_11_162156](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_pendulum_arc_2026_02_11_162156) |
 | SAC | ✅ | -150.97 | [slm_lab/spec/benchmark_arc/sac/sac_classic_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_classic_arc.yaml) | sac_pendulum_arc | [sac_pendulum_arc_2026_02_11_162240](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_pendulum_arc_2026_02_11_162240) |
-| CrossQ | ✅ | -163.52 | [slm_lab/spec/benchmark/crossq/crossq_classic.yaml](../slm_lab/spec/benchmark/crossq/crossq_classic.yaml) | crossq_pendulum | [crossq_pendulum_2026_02_21_123841](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_pendulum_2026_02_21_123841) |
+| CrossQ | ✅ | -145.66 | [slm_lab/spec/benchmark/crossq/crossq_classic.yaml](../slm_lab/spec/benchmark/crossq/crossq_classic.yaml) | crossq_pendulum | [crossq_pendulum_2026_02_28_130648](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_pendulum_2026_02_28_130648) |
 
 ![Pendulum-v1](plots/Pendulum-v1_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -188,7 +188,7 @@ Search budget: ~3-4 trials per dimension (8 trials = 2-3 dims, 16 = 3-4 dims, 20
 | A2C | ❌ | 27.38 | [slm_lab/spec/benchmark_arc/a2c/a2c_classic_arc.yaml](../slm_lab/spec/benchmark_arc/a2c/a2c_classic_arc.yaml) | a2c_gae_lunar_arc | [a2c_gae_lunar_arc_2026_02_11_224304](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/a2c_gae_lunar_arc_2026_02_11_224304) |
 | PPO | ⚠️ | 183.30 | [slm_lab/spec/benchmark_arc/ppo/ppo_box2d_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_box2d_arc.yaml) | ppo_lunar_arc | [ppo_lunar_arc_2026_02_11_201303](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_lunar_arc_2026_02_11_201303) |
 | SAC | ⚠️ | 106.17 | [slm_lab/spec/benchmark_arc/sac/sac_box2d_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_box2d_arc.yaml) | sac_lunar_arc | [sac_lunar_arc_2026_02_11_201417](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_lunar_arc_2026_02_11_201417) |
-| CrossQ | ❌ | 136.25 | [slm_lab/spec/benchmark/crossq/crossq_box2d.yaml](../slm_lab/spec/benchmark/crossq/crossq_box2d.yaml) | crossq_lunar | [crossq_lunar_2026_02_21_123730](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_lunar_2026_02_21_123730) |
+| CrossQ | ❌ | 139.21 | [slm_lab/spec/benchmark/crossq/crossq_box2d.yaml](../slm_lab/spec/benchmark/crossq/crossq_box2d.yaml) | crossq_lunar | [crossq_lunar_2026_02_28_130733](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_lunar_2026_02_28_130733) |
 
 ![LunarLander-v3](plots/LunarLander-v3_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -203,7 +203,7 @@ Search budget: ~3-4 trials per dimension (8 trials = 2-3 dims, 16 = 3-4 dims, 20
 | A2C | ❌ | -76.81 | [slm_lab/spec/benchmark_arc/a2c/a2c_classic_arc.yaml](../slm_lab/spec/benchmark_arc/a2c/a2c_classic_arc.yaml) | a2c_gae_lunar_continuous_arc | [a2c_gae_lunar_continuous_arc_2026_02_11_224301](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/a2c_gae_lunar_continuous_arc_2026_02_11_224301) |
 | PPO | ⚠️ | 132.58 | [slm_lab/spec/benchmark_arc/ppo/ppo_box2d_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_box2d_arc.yaml) | ppo_lunar_continuous_arc | [ppo_lunar_continuous_arc_2026_02_11_224229](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_lunar_continuous_arc_2026_02_11_224229) |
 | SAC | ⚠️ | 125.00 | [slm_lab/spec/benchmark_arc/sac/sac_box2d_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_box2d_arc.yaml) | sac_lunar_continuous_arc | [sac_lunar_continuous_arc_2026_02_12_222203](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_lunar_continuous_arc_2026_02_12_222203) |
-| CrossQ | ✅ | 249.85 | [slm_lab/spec/benchmark/crossq/crossq_box2d.yaml](../slm_lab/spec/benchmark/crossq/crossq_box2d.yaml) | crossq_lunar_continuous | [crossq_lunar_continuous_arc_2026_02_21_100052](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_lunar_continuous_arc_2026_02_21_100052) |
+| CrossQ | ✅ | 268.91 | [slm_lab/spec/benchmark/crossq/crossq_box2d.yaml](../slm_lab/spec/benchmark/crossq/crossq_box2d.yaml) | crossq_lunar_continuous | [crossq_lunar_continuous_2026_03_01_140517](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_lunar_continuous_2026_03_01_140517) |
 
 ![LunarLanderContinuous-v3](plots/LunarLanderContinuous-v3_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -213,13 +213,14 @@ Search budget: ~3-4 trials per dimension (8 trials = 2-3 dims, 16 = 3-4 dims, 20
 
 **Settings**: max_frame 4e6-10e6 | num_envs 16 | max_session 4 | log_frequency 1e4
 
-**Algorithms**: PPO and SAC. Network: MLP [256,256], orthogonal init. PPO uses tanh activation; SAC uses relu.
+**Algorithms**: PPO, SAC, and CrossQ. Network: MLP [256,256], orthogonal init. PPO uses tanh activation; SAC and CrossQ use relu. CrossQ uses Batch Renormalization in critics (no target networks).
 
-**Note on SAC frame budgets**: SAC uses higher update-to-data ratios (more gradient updates per step), making it more sample-efficient but slower per frame than PPO. SAC benchmarks use 1-4M frames (vs PPO's 4-10M) to fit within practical GPU wall-time limits (~6h). Scores may still be improving at cutoff.
+**Note on SAC/CrossQ frame budgets**: SAC uses higher update-to-data ratios (more gradient updates per step), making it more sample-efficient but slower per frame than PPO. SAC benchmarks use 1-4M frames (vs PPO's 4-10M) to fit within practical GPU wall-time limits (~6h). CrossQ uses UTD=1 (like PPO) but eliminates target network overhead, achieving ~700 fps — its frame budgets (3-7.5M) reflect this speed advantage. Scores may still be improving at cutoff.
 
 **Spec Files** (one file per algorithm, all envs via YAML anchors):
 - **PPO**: [ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml)
 - **SAC**: [sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml)
+- **CrossQ**: [crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml)
 
 **Spec Variants**: Each file has a base config (shared via YAML anchors) with per-env overrides:
 
@@ -230,6 +231,8 @@ Search budget: ~3-4 trials per dimension (8 trials = 2-3 dims, 16 = 3-4 dims, 20
 | ppo_{env}_arc | Ant, Hopper, Swimmer, IP, IDP | Per-env tuned (gamma, lam, lr) |
 | sac_mujoco_arc | (generic, use with -s flags) | Base: gamma=0.99, iter=4, lr=3e-4, [256,256] |
 | sac_{env}_arc | All 11 envs | Per-env tuned (iter, gamma, lr, net size) |
+| crossq_mujoco | (generic base) | Base: gamma=0.99, iter=1, lr=1e-3, policy_delay=3 |
+| crossq_{env} | All 11 envs | Per-env tuned (critic width, actor LN, iter) |
 
 **Reproduce**: Copy `SPEC_NAME` and `MAX_FRAME` from the table below.
 
@@ -241,32 +244,47 @@ source .env && slm-lab run-remote --gpu -s env=ENV -s max_frame=MAX_FRAME \
 # SAC: env and max_frame are hardcoded per spec — no -s flags needed
 source .env && slm-lab run-remote --gpu \
   slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml SPEC_NAME train -n NAME
+
+# CrossQ: env and max_frame are hardcoded per spec — no -s flags needed
+source .env && slm-lab run-remote --gpu \
+  slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml SPEC_NAME train -n NAME
 ```
 
 | ENV | SPEC_NAME | MAX_FRAME |
 |-----|-----------|-----------|
 | Ant-v5 | ppo_ant_arc | 10e6 |
 | | sac_ant_arc | 2e6 |
+| | crossq_ant | 3e6 |
 | HalfCheetah-v5 | ppo_mujoco_arc | 10e6 |
 | | sac_halfcheetah_arc | 4e6 |
+| | crossq_halfcheetah | 4e6 |
 | Hopper-v5 | ppo_hopper_arc | 4e6 |
 | | sac_hopper_arc | 3e6 |
+| | crossq_hopper | 3e6 |
 | Humanoid-v5 | ppo_mujoco_arc | 10e6 |
 | | sac_humanoid_arc | 1e6 |
+| | crossq_humanoid | 2e6 |
 | HumanoidStandup-v5 | ppo_mujoco_arc | 4e6 |
 | | sac_humanoid_standup_arc | 1e6 |
+| | crossq_humanoid_standup | 2e6 |
 | InvertedDoublePendulum-v5 | ppo_inverted_double_pendulum_arc | 10e6 |
 | | sac_inverted_double_pendulum_arc | 2e6 |
+| | crossq_inverted_double_pendulum | 2e6 |
 | InvertedPendulum-v5 | ppo_inverted_pendulum_arc | 4e6 |
 | | sac_inverted_pendulum_arc | 2e6 |
+| | crossq_inverted_pendulum | 7e6 |
 | Pusher-v5 | ppo_mujoco_longhorizon_arc | 4e6 |
 | | sac_pusher_arc | 1e6 |
+| | crossq_pusher | 2e6 |
 | Reacher-v5 | ppo_mujoco_longhorizon_arc | 4e6 |
 | | sac_reacher_arc | 1e6 |
+| | crossq_reacher | 2e6 |
 | Swimmer-v5 | ppo_swimmer_arc | 4e6 |
 | | sac_swimmer_arc | 2e6 |
+| | crossq_swimmer | 3e6 |
 | Walker2d-v5 | ppo_mujoco_arc | 10e6 |
 | | sac_walker2d_arc | 3e6 |
+| | crossq_walker2d | 7e6 |
 
 #### 3.1 Ant-v5
 
@@ -278,7 +296,7 @@ source .env && slm-lab run-remote --gpu \
 |-----------|--------|-----|-----------|-----------|---------|
 | PPO | ✅ | 2138.28 | [slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml) | ppo_ant_arc | [ppo_ant_arc_ant_2026_02_12_190644](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_ant_arc_ant_2026_02_12_190644) |
 | SAC | ✅ | 4942.91 | [slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml) | sac_ant_arc | [sac_ant_arc_2026_02_11_225529](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_ant_arc_2026_02_11_225529) |
-| CrossQ | ✅ | 5108.47 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_ant_ln_7m | [crossq_ant_ln_7m_2026_02_22_015136](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_ant_ln_7m_2026_02_22_015136) |
+| CrossQ | ✅ | 4517.00 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_ant | [crossq_ant_2026_03_01_102428](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_ant_2026_03_01_102428) |
 
 ![Ant-v5](plots/Ant-v5_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -292,7 +310,7 @@ source .env && slm-lab run-remote --gpu \
 |-----------|--------|-----|-----------|-----------|---------|
 | PPO | ✅ | 6240.68 | [slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml) | ppo_mujoco_arc | [ppo_mujoco_arc_halfcheetah_2026_02_12_195553](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_mujoco_arc_halfcheetah_2026_02_12_195553) |
 | SAC | ✅ | 9815.16 | [slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml) | sac_halfcheetah_arc | [sac_halfcheetah_4m_i2_arc_2026_02_14_185522](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_halfcheetah_4m_i2_arc_2026_02_14_185522) |
-| CrossQ | ✅ | 9969.18 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_halfcheetah_ln_8m | [crossq_halfcheetah_ln_8m_2026_02_22_111117](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_halfcheetah_ln_8m_2026_02_22_111117) |
+| CrossQ | ✅ | 8616.52 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_halfcheetah | [crossq_halfcheetah_2026_03_01_101317](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_halfcheetah_2026_03_01_101317) |
 
 ![HalfCheetah-v5](plots/HalfCheetah-v5_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -306,7 +324,7 @@ source .env && slm-lab run-remote --gpu \
 |-----------|--------|-----|-----------|-----------|---------|
 | PPO | ⚠️ | 1653.74 | [slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml) | ppo_hopper_arc | [ppo_hopper_arc_hopper_2026_02_12_222206](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_hopper_arc_hopper_2026_02_12_222206) |
 | SAC | ⚠️ | 1416.52 | [slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml) | sac_hopper_arc | [sac_hopper_3m_i4_arc_2026_02_14_185434](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_hopper_3m_i4_arc_2026_02_14_185434) |
-| CrossQ | ⚠️ | 1295.21 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_hopper | [crossq_hopper_2026_02_21_173921](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_hopper_2026_02_21_173921) |
+| CrossQ | ⚠️ | 1168.53 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_hopper | [crossq_hopper_2026_02_21_101148](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_hopper_2026_02_21_101148) |
 
 ![Hopper-v5](plots/Hopper-v5_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -320,7 +338,7 @@ source .env && slm-lab run-remote --gpu \
 |-----------|--------|-----|-----------|-----------|---------|
 | PPO | ✅ | 2661.26 | [slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml) | ppo_mujoco_arc | [ppo_mujoco_arc_humanoid_2026_02_12_185439](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_mujoco_arc_humanoid_2026_02_12_185439) |
 | SAC | ✅ | 1989.65 | [slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml) | sac_humanoid_arc | [sac_humanoid_arc_2026_02_12_020016](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_humanoid_arc_2026_02_12_020016) |
-| CrossQ | ✅ | 1850.44 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_humanoid_ln_i2 | [crossq_humanoid_ln_i2_2026_02_22_014755](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_humanoid_ln_i2_2026_02_22_014755) |
+| CrossQ | ✅ | 1102.00 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_humanoid | [crossq_humanoid_2026_03_01_165208](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_humanoid_2026_03_01_165208) |
 
 ![Humanoid-v5](plots/Humanoid-v5_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -334,7 +352,7 @@ source .env && slm-lab run-remote --gpu \
 |-----------|--------|-----|-----------|-----------|---------|
 | PPO | ✅ | 150104.59 | [slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml) | ppo_mujoco_arc | [ppo_mujoco_arc_humanoidstandup_2026_02_12_115050](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_mujoco_arc_humanoidstandup_2026_02_12_115050) |
 | SAC | ✅ | 137357.00 | [slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml) | sac_humanoid_standup_arc | [sac_humanoid_standup_arc_2026_02_12_225150](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_humanoid_standup_arc_2026_02_12_225150) |
-| CrossQ | ✅ | 154162.28 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_humanoid_standup_v2 | [crossq_humanoid_standup_v2_2026_02_22_155517](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_humanoid_standup_v2_2026_02_22_155517) |
+| CrossQ | ✅ | 150912.66 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_humanoid_standup | [crossq_humanoid_standup_2026_02_28_184305](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_humanoid_standup_2026_02_28_184305) |
 
 ![HumanoidStandup-v5](plots/HumanoidStandup-v5_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -348,7 +366,7 @@ source .env && slm-lab run-remote --gpu \
 |-----------|--------|-----|-----------|-----------|---------|
 | PPO | ✅ | 8383.76 | [slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml) | ppo_inverted_double_pendulum_arc | [ppo_inverted_double_pendulum_arc_inverteddoublependulum_2026_02_12_225231](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_inverted_double_pendulum_arc_inverteddoublependulum_2026_02_12_225231) |
 | SAC | ✅ | 9032.67 | [slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml) | sac_inverted_double_pendulum_arc | [sac_inverted_double_pendulum_arc_2026_02_12_025206](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_inverted_double_pendulum_arc_2026_02_12_025206) |
-| CrossQ | ⚠️ | 8255.82 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_inverted_double_pendulum_v2 | [crossq_inverted_double_pendulum_v2_2026_02_22_155616](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_inverted_double_pendulum_v2_2026_02_22_155616) |
+| CrossQ | ✅ | 8027.38 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_inverted_double_pendulum | [crossq_inverted_double_pendulum_2026_03_01_101354](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_inverted_double_pendulum_2026_03_01_101354) |
 
 ![InvertedDoublePendulum-v5](plots/InvertedDoublePendulum-v5_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -356,13 +374,13 @@ source .env && slm-lab run-remote --gpu \
 
 **Docs**: [InvertedPendulum](https://gymnasium.farama.org/environments/mujoco/inverted_pendulum/) | State: Box(4) | Action: Box(1) | Target reward MA ~1000
 
-**Settings**: max_frame 4e6 | num_envs 16 | max_session 4 | log_frequency 1e4
+**Settings**: max_frame 10e6 | num_envs 16 | max_session 4 | log_frequency 1e4
 
 | Algorithm | Status | MA | SPEC_FILE | SPEC_NAME | HF Data |
 |-----------|--------|-----|-----------|-----------|---------|
 | PPO | ✅ | 949.94 | [slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml) | ppo_inverted_pendulum_arc | [ppo_inverted_pendulum_arc_invertedpendulum_2026_02_12_062037](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_inverted_pendulum_arc_invertedpendulum_2026_02_12_062037) |
 | SAC | ✅ | 928.43 | [slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml) | sac_inverted_pendulum_arc | [sac_inverted_pendulum_arc_2026_02_12_225503](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_inverted_pendulum_arc_2026_02_12_225503) |
-| CrossQ | ⚠️ | 841.87 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_inverted_pendulum | [crossq_inverted_pendulum_2026_02_21_134607](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_inverted_pendulum_2026_02_21_134607) |
+| CrossQ | ⚠️ | 877.83 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_inverted_pendulum | [crossq_inverted_pendulum_2026_02_28_184348](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_inverted_pendulum_2026_02_28_184348) |
 
 ![InvertedPendulum-v5](plots/InvertedPendulum-v5_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -390,7 +408,7 @@ source .env && slm-lab run-remote --gpu \
 |-----------|--------|-----|-----------|-----------|---------|
 | PPO | ✅ | -5.03 | [slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml) | ppo_mujoco_longhorizon_arc | [ppo_mujoco_longhorizon_arc_reacher_2026_02_12_115033](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_mujoco_longhorizon_arc_reacher_2026_02_12_115033) |
 | SAC | ✅ | -6.31 | [slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml) | sac_reacher_arc | [sac_reacher_arc_2026_02_12_055200](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_reacher_arc_2026_02_12_055200) |
-| CrossQ | ✅ | -5.66 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_reacher | [crossq_reacher_2026_02_21_134606](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_reacher_2026_02_21_134606) |
+| CrossQ | ✅ | -5.65 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_reacher | [crossq_reacher_2026_02_28_184304](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_reacher_2026_02_28_184304) |
 
 ![Reacher-v5](plots/Reacher-v5_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -418,7 +436,7 @@ source .env && slm-lab run-remote --gpu \
 |-----------|--------|-----|-----------|-----------|---------|
 | PPO | ✅ | 4378.62 | [slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_mujoco_arc.yaml) | ppo_mujoco_arc | [ppo_mujoco_arc_walker2d_2026_02_12_190312](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_mujoco_arc_walker2d_2026_02_12_190312) |
 | SAC | ⚠️ | 3123.66 | [slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_mujoco_arc.yaml) | sac_walker2d_arc | [sac_walker2d_3m_i4_arc_2026_02_14_185550](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_walker2d_3m_i4_arc_2026_02_14_185550) |
-| CrossQ | ✅ | 4277.15 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_walker2d_ln_7m | [crossq_walker2d_ln_7m_2026_02_22_014846](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_walker2d_ln_7m_2026_02_22_014846) |
+| CrossQ | ✅ | 4389.62 | [slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml](../slm_lab/spec/benchmark/crossq/crossq_mujoco.yaml) | crossq_walker2d | [crossq_walker2d_2026_02_28_184343](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_walker2d_2026_02_28_184343) |
 
 ![Walker2d-v5](plots/Walker2d-v5_multi_trial_graph_mean_returns_ma_vs_frames.png)
 
@@ -437,6 +455,7 @@ source .env && slm-lab run-remote --gpu \
 - **A2C**: [a2c_atari_arc.yaml](../slm_lab/spec/benchmark_arc/a2c/a2c_atari_arc.yaml) - RMSprop (lr=7e-4), training_frequency=32
 - **PPO**: [ppo_atari_arc.yaml](../slm_lab/spec/benchmark_arc/ppo/ppo_atari_arc.yaml) - AdamW (lr=2.5e-4), minibatch=256, horizon=128, epochs=4, max_frame=10e6
 - **SAC**: [sac_atari_arc.yaml](../slm_lab/spec/benchmark_arc/sac/sac_atari_arc.yaml) - Categorical SAC, AdamW (lr=3e-4), training_iter=3, training_frequency=4, max_frame=2e6
+- **CrossQ**: [crossq_atari.yaml](../slm_lab/spec/benchmark/crossq/crossq_atari.yaml) - Categorical CrossQ, AdamW (lr=1e-3), training_iter=3, training_frequency=4, max_frame=2e6 (experimental — limited results on 6 games)
 
 **PPO Lambda Variants** (table shows best result per game):
 
@@ -459,6 +478,10 @@ source .env && slm-lab run-remote --gpu -s env=ENV -s max_frame=1e7 \
 # SAC (2M frames - off-policy, more sample-efficient but slower per frame)
 source .env && slm-lab run-remote --gpu -s env=ENV \
   slm_lab/spec/benchmark_arc/sac/sac_atari_arc.yaml sac_atari_arc train -n NAME
+
+# CrossQ (2M frames - experimental, limited games tested)
+source .env && slm-lab run-remote --gpu -s env=ENV \
+  slm_lab/spec/benchmark/crossq/crossq_atari.yaml crossq_atari train -n NAME
 ```
 
 > **Note**: HF Data links marked "-" indicate runs completed but not yet uploaded to HuggingFace. Scores are extracted from local trial_metrics.
@@ -571,7 +594,7 @@ source .env && slm-lab run-remote --gpu -s env=ENV \
 | ALE/MsPacman-v5 | 2330.74 | ppo_atari_lam85_arc | [ppo_atari_lam85_arc_mspacman_2026_02_14_102435](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_atari_lam85_arc_mspacman_2026_02_14_102435) |
 | | 1336.96 | sac_atari_arc | [sac_atari_arc_mspacman_2026_02_17_221523](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_atari_arc_mspacman_2026_02_17_221523) |
 | | 2110 | a2c_gae_atari_arc | [a2c_gae_atari_mspacman_2026_02_01_001100](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/a2c_gae_atari_mspacman_2026_02_01_001100) |
-| | ❌ 294.17 | crossq_atari | [crossq_atari_mspacman_2026_02_25_030354](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_atari_mspacman_2026_02_25_030354) |
+| | ❌ 327.79 | crossq_atari | [crossq_atari_mspacman_2026_02_23_171317](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_atari_mspacman_2026_02_23_171317) |
 | ALE/NameThisGame-v5 | 6879.23 | ppo_atari_arc | [ppo_atari_arc_namethisgame_2026_02_14_103319](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_atari_arc_namethisgame_2026_02_14_103319) |
 | | 3992.71 | sac_atari_arc | [sac_atari_arc_namethisgame_2026_02_17_220905](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_atari_arc_namethisgame_2026_02_17_220905) |
 | | 5412 | a2c_gae_atari_arc | [a2c_gae_atari_namethisgame_2026_02_01_132733](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/a2c_gae_atari_namethisgame_2026_02_01_132733) |
@@ -581,7 +604,7 @@ source .env && slm-lab run-remote --gpu -s env=ENV \
 | ALE/Pong-v5 | 16.69 | ppo_atari_lam85_arc | [ppo_atari_lam85_arc_pong_2026_02_14_103722](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_atari_lam85_arc_pong_2026_02_14_103722) |
 | | 10.89 | sac_atari_arc | [sac_atari_arc_pong_2026_02_17_160429](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_atari_arc_pong_2026_02_17_160429) |
 | | 10.17 | a2c_gae_atari_arc | [a2c_gae_atari_pong_2026_01_31_213635](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/a2c_gae_atari_pong_2026_01_31_213635) |
-| | ❌ -20.66 | crossq_atari | [crossq_atari_pong_2026_02_25_030237](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_atari_pong_2026_02_25_030237) |
+| | ❌ -20.59 | crossq_atari | [crossq_atari_pong_2026_02_23_171158](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/crossq_atari_pong_2026_02_23_171158) |
 | ALE/Pooyan-v5 | 5308.66 | ppo_atari_lam70_arc | [ppo_atari_lam70_arc_pooyan_2026_02_14_114730](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_atari_lam70_arc_pooyan_2026_02_14_114730) |
 | | 2530.78 | sac_atari_arc | [sac_atari_arc_pooyan_2026_02_17_220346](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/sac_atari_arc_pooyan_2026_02_17_220346) |
 | | 2997 | a2c_gae_atari_arc | [a2c_gae_atari_pooyan_2026_02_01_132748](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/a2c_gae_atari_pooyan_2026_02_01_132748) |