ResearchBenchmarksLocomotion on HalfCheetah F=10 (test)Follow3,777.2Average RewardESN-OA1,883.6722,375.2612,866.853,358.439Feb 6, 2026Evaluation ResultsMethodMethodLinksAverage RewardESN-OA2026.023,777.2ESN-OA-PT2026.023,354.8DR2026.023,164.3SAC2026.023,054.1RMA2026.021,956.5