ResearchBenchmarksSafe Exploration on Pendulum (train)Safe Exploration on Pendulum (train)Follow11Total InfeasibilitiesUPSi5.7641.1376.5111.87Apr 29, 2026Evaluation resultsMethodMethodLinksTotal InfeasibilitiesInfeasibility RateMin. Optimization Time (s)Max. Optimization Time (s)UPSiSolver Architecture=SQPSolver Architecture=SQP2026.041140.04050.1XMPSCSolver Architecture=IpoptSolver Architecture=Ipopt2026.04142560.2480.958