ResearchBenchmarksLocomotion on SafetyAntFollow18.49Relative Return ImprovementPPO-PID-1.1663.9379.0414.143Oct 13, 2025Evaluation ResultsMethodMethodLinksRelative Return ImprovementRelative Cumulative CostPPO-PID2025.1018.4960.14SIMMER2025.1017.764.11RESPO2025.1016.2612.8SEditor2025.102.5524.78SRCPO2025.10-0.4135.57