ResearchBenchmarksSafe Control on Hopper ComplexSafe Control on Hopper ComplexFollow100Safety RatePolyFlow-3.4823.38550.2577.115Jun 11, 2026Evaluation resultsMethodMethodLinksSafety RateDismatching ScoreRollout ReturnPolyFlowTotal Time (s)=0.081,...Total Time (s)=0.081, variant=PolyFlow-attn2026.061001.0222,949SafeFlowTotal Time (s)=15.125Total Time (s)=15.1252026.061001.1692,397RoSDTotal Time (s)=2.114Total Time (s)=2.1142026.0610027.12937GaugeFlowTotal Time (s)=0.878Total Time (s)=0.8782026.061001.1892,851FlowTotal Time (s)=0.698Total Time (s)=0.6982026.060.5—2,450