ResearchBenchmarksAntRun on Bullet-Safety-Gym (Normalized Metrics)Follow0.45Normalized RewardFISOR0.28360.32680.370.4132Apr 29, 2026Evaluation ResultsMethodMethodLinksNormalized RewardNormalized CostFISOR2026.040.450.03CDT+SASAlignment=SAS, Base Mo...Alignment=SAS, Base Model=CDT2026.040.290.45