ResearchBenchmarksReinforcement Learning on Bullet Safety Gym AntRunFollow0.65RewardBC-Safe0.00520.17260.340.5074Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostBC-Safe2026.020.651.09LexiSafe-SC2026.020.650.6COptiDICE2026.020.610.94FISOR2026.020.450LSPC-O2026.020.440.45CPQ2026.020.030.02