Good question!
All bichirs are prone to escaping but they are not constantly looking for a way out.
Even with wild caught bichirs, I've had some that couldn't stand being in a tank and were trying to find a way out, while others seem relaxed and happy in aquaria.
An important thing to keep in mind is their surface breathing habits. Sometimes they dart towards the surface full speed and make a big splash. Without a secure lid, they would jump out accidentally.