ResearchBenchmarksSafe Control on HalfCheetahSafe Control on HalfCheetahFollow100Safety RatePolyFlow-4235077Jun 11, 2026Evaluation resultsMethodMethodLinksSafety RateDismatching ScoreRollout ReturnPolyFlowTotal Time (s)=0.089,...Total Time (s)=0.089, variant=PolyFlow-attn2026.061005.2562,977SafeFlowTotal Time (s)=10.071Total Time (s)=10.0712026.061003.1772,034RoSDTotal Time (s)=2.334Total Time (s)=2.3342026.061003.0992,083GaugeFlowTotal Time (s)=0.502Total Time (s)=0.5022026.061004.3341,399FlowTotal Time (s)=0.358Total Time (s)=0.3582026.060—724