# Description

> Reopening pending PR (closed at that point) for when the cleanup and
removal of the internal repository was performed.

This PR updates the agent configuration (to be as similar as possible)
for the `Isaac-Humanoid-v0` task to ensure a more accurate comparison of
the RL libraries when generating the [Training
Performance](https://isaac-sim.github.io/IsaacLab/main/source/overview/reinforcement-learning/rl_frameworks.html#training-performance)
table.

To this end:

1. A common Training time info (e.g.: `Training time: XXX.YY seconds`)
is printed when running existing `train.py` scripts. Currently the RL
libraries output training information in different formats and extends.
2. A note is added to involved agent configurations to notify/ensure
that any modification should be propagated to the other agent
configuration files.
3. The commands used to benchmark the RL libraries is added to docs, for
clearness and repro.

## Screenshots

Difference between current agent configuration (red) and new agent
configuration (green) showing that the new configuration does not
represent a radical change in learning

<img width="1230" height="880" alt="Screenshot from 2025-11-28 13-19-14"
src="https://github.com/user-attachments/assets/12a098c1-c169-4e09-b60f-b5f105341fbd"
/>



## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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