ResearchBenchmarksAction Generation on Hopper HardAction Generation on Hopper HardFollow0.005Safety Violation RateFlow-0.03480.233850.50250.77115Jun 11, 2026Evaluation resultsMethodMethodLinksSafety Violation RateMMDWasserstein Distance (W)KL DivergenceAccuracy (Acc)Total TimeStep TimeFlow2026.060.0052.11.1520.43610.6980.003PolyFlow2026.0611.741.1170.5531.20.0810.008SafeFlow2026.0612.331.1570.6081.115.1250.076RoSD2026.0615.221.96323.8941.72.1140.106GaugeFlow2026.0612.521.1610.5921.10.8780.004