ResearchBenchmarksImitation Learning on GSRD (initial conditions)Imitation Learning on GSRD (initial conditions)Follow0.091RMSESFMDSHard-0.101561.198222.4983.79778Jun 2, 2026Evaluation resultsMethodMethodLinksRMSECH(G, D)CH(D, G)SFMDSHardconstraint_type=hardconstraint_type=hard2026.060.0911.0611.33SFMDSSoftconstraint_type=softconstraint_type=soft2026.060.0942.6073.238BCclippedclipping=enabledclipping=enabled2026.060.67.40421.036BCmode=standard behavior...mode=standard behavioral cloning2026.064.9058.691136.173