ResearchBenchmarksContinuous Control on D4RL MuJoCo hopper-mediumFollow38.5Normalized ReturnOPRIDE22.3826.56530.7534.935Feb 19, 2026Evaluation ResultsMethodMethodLinksNormalized ReturnOPRIDE2026.0238.5PT2026.0236.9PT+PDS2026.0235.8OPRL2026.0223