ResearchBenchmarksSafe Control on Hopper SimpleSafe Control on Hopper SimpleFollow100Safety RatePolyFlow74.5281.13587.7594.365Jun 11, 2026Evaluation resultsMethodMethodLinksSafety RateDismatching ScoreRollout ReturnPolyFlowTotal Time (s)=0.075,...Total Time (s)=0.075, variant=PolyFlow-attn2026.061000.8993,187SafeFlowTotal Time (s)=0.833Total Time (s)=0.8332026.061000.9842,628RoSDTotal Time (s)=1.749Total Time (s)=1.7492026.061005.068961GaugeFlowTotal Time (s)=0.867Total Time (s)=0.8672026.061001.0492,473FlowTotal Time (s)=0.698Total Time (s)=0.6982026.0675.5—2,450