ResearchBenchmarksSafe Locomotion on HalfCheetah Not-FlipFollow100Safe State RatioOracle74.20880.90487.694.296May 31, 2026Evaluation ResultsMethodMethodLinksSafe State RatioOracle2026.05100DDG*2026.05100COLLIE2026.05100DoDont*2026.0591.7METRA2026.0589.2LSD2026.0576.1DIAYN2026.0575.2