ResearchBenchmarksContinuous Control on SafetyHopperVelocity v1Follow1,687.37ReturnSPMA-ALM1,642.32761,654.02131,665.7151,677.4087May 12, 2026Evaluation ResultsMethodMethodLinksReturnCVSPMA-ALMAlgorithm=SPMA-ALMAlgorithm=SPMA-ALM2026.051,687.37-6.06CPOAlgorithm=CPOAlgorithm=CPO2026.051,682.683.94PPO-LagAlgorithm=PPO-LagAlgorithm=PPO-Lag2026.051,675.45-6.56PPO-ALMAlgorithm=PPO-ALMAlgorithm=PPO-ALM2026.051,644.06-9.92