ResearchBenchmarksSafe Locomotion on Ant RangeFollow94.3Safe State RatioOracle-3.77221.68947.1572.611May 31, 2026Evaluation ResultsMethodMethodLinksSafe State RatioOracle2026.0594.3COLLIE2026.0580.9DoDont*2026.0536.7LSD2026.0536.4DDG*2026.0528.1METRA2026.0523.9DIAYN2026.050