For pi.pardot.com, follow the below steps:
1. Go to Marketing > Automation > Automation Rules > Add New Automation Rule
2. Add the required criteria that will allow prospects to match the automation rule
3. Add the action as "Adjust Prospect Score > To > 0”
4. Save Automation Rule
For Lightning, please navigate to "Automation" tab -> "Automation rules"-> "Add New Automation Rule" and follow same steps as pi.pardot.com.
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