ResearchBenchmarksSafety-constrained control on Box contact deterministic rolloutSafety-constrained control on Box contact deterministic rolloutFollow0Violation RaterCBF-1.5929.15419.930.646May 20, 2026Evaluation resultsMethodMethodLinksViolation RateMax Violation MagnitudePeak Metric ValueSuccess RaterCBFController=rCBFController=rCBF2026.050024.97—CBFController=CBFController=CBF2026.0534.50.0225.02—NominalController=NominalController=Nominal2026.0539.85.3330.33—