I believe my twins are ready to start potty training but we've tried the no diaper/no pants before and it went horribly! I have extremely hard and slippery floors and they had accidents and go sliding and hitting their heads on the floor😢

Has anyone have success with training with a diaper on? I can't let them walk around with accidents and giving themselves concussion. I also have cloth diapers so maybe those without and inserts? If so how long did it take and do you have any tips?