ResearchBenchmarksLocomotion on HalfCheetah F=7 (test)Follow5,022.4Average RewardESN-OA2,959.9763,495.4134,030.854,566.287Feb 6, 2026Evaluation ResultsMethodMethodLinksAverage RewardESN-OA2026.025,022.4DR2026.024,960.4ESN-OA-PT2026.023,986.5SAC2026.023,396.4RMA2026.023,039.3