ResearchBenchmarksCarCircle on Bullet-Safety-Gym (Normalized Metrics)CarCircle on Bullet-Safety-Gym (Normalized Metrics)Follow0.97Normalized RewardReference policy (πref)0.15880.36940.580.7906Apr 29, 2026May 2, 2026May 6, 2026May 9, 2026May 13, 2026May 16, 2026May 20, 2026Evaluation resultsMethodMethodLinksNormalized RewardNormalized CostReference policy (πref)2026.050.974.58BC2026.050.771.17SafeDICE2026.050.620.91PPL2026.050.591.73PREFINE2026.050.541.23FISOR2026.040.40.11CDT+SASAlignment=SAS, Base Mo...Alignment=SAS, Base Model=CDT2026.040.220.75CPQ2026.050.190.33