ResearchBenchmarksSafe Locomotion on HalfCheetah RightFollow99Safe State RatioOracle25.6844.71563.7582.785May 31, 2026Evaluation ResultsMethodMethodLinksSafe State RatioOracle2026.0599COLLIE2026.0598.7DoDont*2026.0586.7DDG*2026.0552.7DIAYN2026.0550METRA2026.0548LSD2026.0528.5