ResearchBenchmarksSafety-constrained control on Box pivot deterministic rolloutSafety-constrained control on Box pivot deterministic rolloutFollow0Violation RaterCBF-0.002240.012880.0280.04312May 20, 2026Evaluation resultsMethodMethodLinksViolation RateMaximum OvershootPeak ValueSuccess RaterCBFController=rCBFController=rCBF2026.05000.8851—CBFController=CBFController=CBF2026.050.0530.00260.9026—NominalController=NominalController=Nominal2026.050.0560.1891.089—