ResearchBenchmarksSafe Locomotion on Safety-Gym HazardFollow40Safe State RatioCOLLIE22.52827.06431.636.136May 31, 2026Evaluation ResultsMethodMethodLinksSafe State RatioCOLLIE2026.0540Oracle2026.0537DDG*2026.0533.5DIAYN2026.0528.3METRA2026.0528.3DoDont*2026.0526.5LSD2026.0523.2