ResearchBenchmarksSafe Exploration on Pendulum (eval)Safe Exploration on Pendulum (eval)Follow10.9Min Filter RateUPSi-0.4362.5075.458.393Apr 29, 2026Evaluation resultsMethodMethodLinksMin Filter RateMax Filter RateUPSiSolver Architecture=SQPSolver Architecture=SQP2026.0410.952.3XMPSCSolver Architecture=IpoptSolver Architecture=Ipopt2026.04049.9