Delegating cgroup v1 controllers to non-root users is not considered to be safe. So, most Rootless Containers implementations do not support using cgroups on cgroup v1 hosts.
However, LXC supports delegating cgroup v1 to non-root users by using a PAM module called
Unlike cgroup v1, cgroup v2 officially supports delegation. Most Rootless Containers implementations rely on systemd for delegating v2 controllers to non-root users. See Getting Started/Common/Cgroup v2 for the actual configuration.