ResearchBenchmarksLocomotion on HalfCheetah F=4 (test)Follow5,418.7Average RewardDR4,723.2524,903.8015,084.355,264.899Feb 6, 2026Evaluation ResultsMethodMethodLinksAverage RewardDR2026.025,418.7SAC2026.025,358.4ESN-OA2026.025,260.6RMA2026.025,102.2ESN-OA-PT2026.024,750