ResearchBenchmarksSafe Control on Walker2d SimpleSafe Control on Walker2d SimpleFollow100Safety RatePolyFlow98.4498.84599.2599.655Jun 11, 2026Evaluation resultsMethodMethodLinksSafety RateDismatching ScoreRollout ReturnPolyFlowTotal Time (s)=0.081,...Total Time (s)=0.081, variant=PolyFlow-attn2026.061000.8926,031SafeFlowTotal Time (s)=0.598Total Time (s)=0.5982026.0610015,936RoSDTotal Time (s)=2.043Total Time (s)=2.0432026.061001.245,816GaugeFlowTotal Time (s)=0.649Total Time (s)=0.6492026.061001.0415,974FlowTotal Time (s)=0.403Total Time (s)=0.4032026.0698.5—5,895