ResearchBenchmarksPointGoal Navigation on OpenAI Safety Gym POINTGOAL2 (train)PointGoal Navigation on OpenAI Safety Gym POINTGOAL2 (train)Follow92.98RewardNominal27.688844.639461.5978.5406May 26, 2026Evaluation resultsMethodMethodLinksRewardCostNominal2026.0592.989.7D.R.2026.0561.29.63SPiDR2026.0535.459.95Ours2026.0535.179.46Robust2026.0530.29.76