ResearchBenchmarksLocomotion on MuJoCo HalfCheetah Friction shiftFollow63.5Normalized ReturnTABB2.76418.53234.350.068May 21, 2026Evaluation ResultsMethodMethodLinksNormalized ReturnTABB2026.0563.5MOBODY2026.0559.2DROCO2026.0556.9IQL2026.0545BOSA2026.0544.1DARA2026.0540.1OTDF2026.0538.9SRPO2026.055.1