ResearchBenchmarksSafe Exploration on Cartpole (eval)Safe Exploration on Cartpole (eval)Follow46.4Min Filter RateUPSi-1.85610.67223.235.728Apr 29, 2026Evaluation resultsMethodMethodLinksMin Filter RateMax Filter RateUPSiSolver Architecture=SQPSolver Architecture=SQP2026.0446.495.8XMPSCSolver Architecture=IpoptSolver Architecture=Ipopt2026.04079.9