ResearchBenchmarksSafe Locomotion on Ant Hole-NorthFollow100Safe State RatioDIAYN73.4880.36587.2594.135May 31, 2026Evaluation ResultsMethodMethodLinksSafe State RatioDIAYN2026.05100Oracle2026.0598.6COLLIE2026.0593.1DoDont*2026.0583.9DDG*2026.0576.9METRA2026.0575.6LSD2026.0574.5