ResearchBenchmarksSafety-constrained control on Hopper deterministic rolloutSafety-constrained control on Hopper deterministic rolloutFollow0Violation RaterCBF-0.2681.5413.355.159May 20, 2026Evaluation resultsMethodMethodLinksViolation RateMax Constraint ViolationPeak Metric ValueSuccess RaterCBFController=rCBFController=rCBF2026.05001.2225—CBFController=CBFController=CBF2026.053.31.171.3117—NominalController=NominalController=Nominal2026.056.710.171.4017—