ResearchBenchmarksPointGoal Navigation on OpenAI Safety Gym POINTGOAL2 (deploy)PointGoal Navigation on OpenAI Safety Gym POINTGOAL2 (deploy)Follow91.43RewardNominal9.758830.961952.16573.3681May 26, 2026Evaluation resultsMethodMethodLinksRewardCostNominal2026.0591.4329.62D.R.2026.0583.1735.92Ours2026.0549.598.86SPiDR2026.0543.4411.2Robust2026.0512.924.07