ResearchBenchmarksSafe Locomotion on Quadruped NorthFollow87.6Safe State RatioCOLLIE2.94424.92246.968.878May 31, 2026Evaluation ResultsMethodMethodLinksSafe State RatioCOLLIE2026.0587.6Oracle2026.0579.8DoDont*2026.0576METRA2026.0521.1LSD2026.0520.6DDG*2026.0511.3DIAYN2026.056.2