ResearchBenchmarksSafe Locomotion on Humanoid HoleFollow100Safe State RatioDIAYN81.59286.37191.1595.929May 31, 2026Evaluation ResultsMethodMethodLinksSafe State RatioDIAYN2026.05100LSD2026.05100DDG*2026.05100Oracle2026.0591.2COLLIE2026.0590.5DoDont*2026.0584.2METRA2026.0582.3