ResearchBenchmarksReinforcement Learning on Bullet Safety Gym AntCircleFollow0.51RewardLexiSafe-SC-0.02040.11730.2550.3927Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostLexiSafe-SC2026.020.510.51LSPC-O2026.020.450.4BC-Safe2026.020.40.96FISOR2026.020.20COptiDICE2026.020.175.04CPQ2026.0200