ResearchBenchmarksReinforcement Learning on Bullet Safety Gym BallRunFollow0.59RewardCOptiDICE0.1220.24350.3650.4865Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostCOptiDICE2026.020.593.52BC-Safe2026.020.271.46CPQ2026.020.221.27LexiSafe-SC2026.020.220.18FISOR2026.020.180LSPC-O2026.020.140