ResearchBenchmarksWalker2d Control on D4RL MuJoCo (medium-expert)Walker2d Control on D4RL MuJoCo (medium-expert)Follow110.3Normalized ReturnOPRIDE108.22108.76109.3109.84Feb 19, 2026Evaluation resultsMethodMethodLinksNormalized ReturnOPRIDE2026.02110.3PT2026.02109.4PT+PDS2026.02108.4OPRL2026.02108.3