ResearchBenchmarksBallCircle on Bullet-Safety-Gym (Normalized Metrics)BallCircle on Bullet-Safety-Gym (Normalized Metrics)Follow89Normalized RewardReference policy (πref)15.1634.3353.572.67Apr 29, 2026May 2, 2026May 6, 2026May 9, 2026May 13, 2026May 16, 2026May 20, 2026Evaluation resultsMethodMethodLinksNormalized RewardNormalized CostReference policy (πref)2026.05893.73BC2026.05720.7PREFINE2026.05710.35PPL2026.05651.82SafeDICE2026.05590.82FISOR2026.04340CDT+SASAlignment=SAS, Base Mo...Alignment=SAS, Base Model=CDT2026.043147CPQ2026.05180.21