ResearchBenchmarksConstrained Generative Modeling on Walker2d HardConstrained Generative Modeling on Walker2d HardFollow100SafetyPolyFlow69.3277.28585.2593.215Jun 11, 2026Evaluation resultsMethodMethodLinksSafetyMMDWKLAccTotal TimeStep TimePolyFlow2026.061008.753.442.2353.50.0790.008SafeFlow2026.061009.733.6372.6863.44.530.045RoSD2026.061001.493.7853.1593.61.3390.067GaugeFlow2026.061001.023.6472.7883.50.4350.004Flow2026.0670.59.723.6382.73.40.3480.003