ResearchBenchmarksWalker2d-medium Control on D4RL MuJoCoFollow72.7Normalized ReturnOPRIDE70.51671.08371.6572.217Feb 19, 2026Evaluation ResultsMethodMethodLinksNormalized ReturnOPRIDE2026.0272.7PT2026.0271.7PT+PDS2026.0270.9OPRL2026.0270.6