ResearchBenchmarksSafety Velocity Control on SafetyHopperFollow0.93Violation RateTRPOADRC-0.6469.99220.6331.268Jan 26, 2026Evaluation ResultsMethodMethodLinksViolation RateVelocity MagnitudeAverage CostAverage RewardTRPOADRCAlgorithm=TRPOADRCAlgorithm=TRPOADRC2026.010.930.0612.021,080.8CPPOADRCAlgorithm=CPPOADRCAlgorithm=CPPOADRC2026.0117.41.8417.351,155.59TRPOPIDAlgorithm=TRPOPIDAlgorithm=TRPOPID2026.0139.337.5224.411,448.46CPPOPIDAlgorithm=CPPOPIDAlgorithm=CPPOPID2026.0140.335.3223.921,365.6