ResearchBenchmarksDroneCircle on Bullet-Safety-Gym (Normalized Metrics)DroneCircle on Bullet-Safety-Gym (Normalized Metrics)Follow0.54Reward (Normalized)CDT+SAS0.47760.49380.510.5262Apr 29, 2026Evaluation resultsMethodMethodLinksReward (Normalized)Cost (Normalized)CDT+SASAlignment=SAS, Base Mo...Alignment=SAS, Base Model=CDT2026.040.540.63FISOR2026.040.480