ResearchBenchmarksCarRun on Bullet-Safety-Gym (Normalized Metrics)Follow99Normalized RewardReference policy (πref)-22.688.9140.572.09Apr 29, 2026May 2, 2026May 6, 2026May 9, 2026May 13, 2026May 16, 2026May 20, 2026Evaluation ResultsMethodMethodLinksNormalized RewardNormalized CostReference policy (πref)2026.05991.89PREFINE2026.05930.38BC2026.05860.11SafeDICE2026.05810.28FISOR2026.047314CDT+SASAlignment=SAS, Base Mo...Alignment=SAS, Base Model=CDT2026.047239PPL2026.05710.39CPQ2026.05-180.06