Alot of how a plane torque rolls depends on what type of plane it is, and how much throw the ailerons have,thrust, and torque applied by the motor.
Some planes will automatically enter a torque roll when you pull it up into a hover, and wont allow you to hold it. Others will allow you to anti-torque roll. It just depends on the airplane and the set-up.

To correct your problem, I would suggest increasing the size of the ailerons, and the throw that you can apply to them.
You can lengthen the servo arms to get more throw, and shorten the control horns on the ailerons...also try to get the control horns as close to the hinge line as possible. With most foamies you will want 45-60 degrees of throw on the ailerons for good performance in a hover.
Change your prop. Try different pitches and prop sizes. Some props create more torque than others.

Also for more help with 3D type maneuvers check out www.teamflyingcirkus.com courtesy of RCuniverse

There are instructional videos on the website for many 3D maneuvers, and many more helpful videos coming soon.
The flying cirkus forums can also help you learn 3D by communicating with experienced 3D pilots.

Good luck...and have fun.