ResearchBenchmarksReinforcement Learning on Bullet Safety Gym CarRunFollow0.98RewardLexiSafe-SC0.720.78750.8550.9225Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostLexiSafe-SC2026.020.980.85LSPC-O2026.020.970.13CPQ2026.020.951.79BC-Safe2026.020.940.22COptiDICE2026.020.870FISOR2026.020.730.04