ResearchBenchmarksLocomotion on HalfCheetah F=1 (test)Follow6,540.5Average RewardSAC4,140.4924,763.5715,386.656,009.729Feb 6, 2026Evaluation ResultsMethodMethodLinksAverage RewardSAC2026.026,540.5ESN-OA2026.025,046.3DR2026.024,543.5ESN-OA-PT2026.024,279.8RMA2026.024,232.8