ResearchBenchmarksHammer on MetaworldFollow50.3Episode ReturnOPRIDE21.49228.97136.4543.929Feb 19, 2026Evaluation ResultsMethodMethodLinksEpisode ReturnOPRIDEReward Labeling=OPRIDEReward Labeling=OPRIDE2026.0250.3RandomReward Labeling=randomReward Labeling=random2026.0246.1ZeroReward Labeling=zeroReward Labeling=zero2026.0238.1NegativeReward Labeling=negativeReward Labeling=negative2026.0222.6