ResearchBenchmarksSafe Locomotion on Ant NorthFollow96.9Safe State RatioCOLLIE-3.87622.28748.4574.613May 31, 2026Evaluation ResultsMethodMethodLinksSafe State RatioCOLLIE2026.0596.9DoDont*2026.0593.4Oracle2026.0592.6METRA2026.0520.4DDG*2026.0520.1LSD2026.0518.3DIAYN2026.050