ResearchBenchmarksPush-Wall on Metaworld (Episode Return)Follow102.2Episode ReturnOPRIDE14.21637.05859.982.742Feb 19, 2026Evaluation ResultsMethodMethodLinksEpisode ReturnOPRIDEReward Labeling=OPRIDEReward Labeling=OPRIDE2026.02102.2ZeroReward Labeling=zeroReward Labeling=zero2026.0281.9RandomReward Labeling=randomReward Labeling=random2026.0280.1NegativeReward Labeling=negativeReward Labeling=negative2026.0217.6