ResearchBenchmarksContinuous Control on Quadruped (test)Follow2,015.2ReturnAutoSafe-67.192473.4291,014.051,554.671Jun 30, 2026Evaluation ResultsMethodMethodLinksReturnViolationsAutoSafe2026.062,015.20SimplexRL2026.061,880.50.2Residual2026.061,493.5522.6SAC2026.06601.51,895.6AdaLam2026.06477.4960.6Lyapunov2026.06408.52,082.4Lagrangian2026.0617.917,824.6CBF2026.0612.917,502