ResearchBenchmarksReinforcement Learning on Bullet Safety Gym CarCircleFollow0.72RewardLSPC-O0.38720.47360.560.6464Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostLSPC-O2026.020.720.04CPQ2026.020.710.33LexiSafe-SC2026.020.710.58BC-Safe2026.020.50.84COptiDICE2026.020.493.14FISOR2026.020.40.03