ResearchBenchmarksSafe Control on Walker2d ComplexSafe Control on Walker2d ComplexFollow100Safety RatePolyFlow69.3277.28585.2593.215Jun 11, 2026Evaluation resultsMethodMethodLinksSafety RateDismatching ScoreRollout ReturnPolyFlowTotal Time (s)=0.079,...Total Time (s)=0.079, variant=PolyFlow-attn2026.061000.8915,981SafeFlowTotal Time (s)=4.530Total Time (s)=4.5302026.061000.9995,961RoSDTotal Time (s)=1.339Total Time (s)=1.3392026.061001.2485,716GaugeFlowTotal Time (s)=0.435Total Time (s)=0.4352026.061001.0285,783FlowTotal Time (s)=0.348Total Time (s)=0.3482026.0670.5—5,895