ResearchBenchmarksSafe Locomotion on Ant HoleFollow100Safe State RatioDIAYN67.7676.1384.592.87May 31, 2026Evaluation ResultsMethodMethodLinksSafe State RatioDIAYN2026.05100Oracle2026.0598.9COLLIE2026.0590.6DoDont*2026.0583.2METRA2026.0574.7DDG*2026.0573.9LSD2026.0569