ResearchBenchmarksDroneRun on Bullet GymFollow0.84Normalized RewardReference policy (πref)0.10160.29330.4850.6767May 20, 2026Evaluation ResultsMethodMethodLinksNormalized RewardNormalized CostReference policy (πref)2026.050.846.77PREFINE2026.050.570.42BC2026.050.550.01PPL2026.050.540.79SafeDICE2026.050.460.4CPQ2026.050.130.04