ResearchBenchmarksSoccer on MetaworldFollow45.4Episode ReturnOPRIDE32.81636.08339.3542.617Feb 19, 2026Evaluation ResultsMethodMethodLinksEpisode ReturnOPRIDEReward Labeling=OPRIDEReward Labeling=OPRIDE2026.0245.4NegativeReward Labeling=negativeReward Labeling=negative2026.0244RandomReward Labeling=randomReward Labeling=random2026.0241.1ZeroReward Labeling=zeroReward Labeling=zero2026.0233.3