ResearchBenchmarksSafety-constrained control on Planar push deterministic rolloutSafety-constrained control on Planar push deterministic rolloutFollow0Violation RaterCBF-1.367.821726.18May 20, 2026Evaluation resultsMethodMethodLinksViolation RateMaximum OvershootPeak ErrorSuccess RaterCBFController=rCBFController=rCBF2026.050024.5—CBFController=CBFController=CBF2026.0526024.5—NominalController=NominalController=Nominal2026.05347.9932.49—