ResearchBenchmarksHalfCheetahVelocity on Safety GymFollow99Normalized RewardReference policy (πref)15.837.45980.6May 20, 2026Evaluation ResultsMethodMethodLinksNormalized RewardNormalized CostReference policy (πref)2026.05998.01PREFINE2026.05860.15SafeDICE2026.05700.31BC2026.05574.1PPL2026.05280CPQ2026.05190.71