ResearchBenchmarksReinforcement Learning on Bullet Safety Gym BallCircleFollow0.71RewardLexiSafe-SC0.32520.42510.5250.6249Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostLexiSafe-SC2026.020.710.61COptiDICE2026.020.72.61CPQ2026.020.640.76BC-Safe2026.020.520.65LSPC-O2026.020.470.01FISOR2026.020.340