ResearchBenchmarkshalfcheetah-medium-expert on D4RL MuJoCo (medium-expert)halfcheetah-medium-expert on D4RL MuJoCo (medium-expert)Follow86.5Normalized ReturnOPRIDE81.61282.88184.1585.419Feb 19, 2026Evaluation resultsMethodMethodLinksNormalized ReturnOPRIDE2026.0286.5PT+PDS2026.0282.4PT2026.0281.9OPRL2026.0281.8