ResearchBenchmarksSafe Exploration on Cartpole (train)Safe Exploration on Cartpole (train)Follow382Total InfeasibilitiesUPSi250.881,135.942,0212,906.06Apr 29, 2026Evaluation resultsMethodMethodLinksTotal InfeasibilitiesInfeasibility RateMin. Opt. Time (s)Max. Opt. Time (s)UPSiSolver Architecture=SQPSolver Architecture=SQP2026.043820.750.2721.68XMPSCSolver Architecture=IpoptSolver Architecture=Ipopt2026.043,6607.150.4059.05