ResearchBenchmarksReinforcement Learning on Bullet Safety Gym DroneCircleFollow0.58RewardLSPC-O-0.252-0.0360.180.396Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostLSPC-O2026.020.580.6BC-Safe2026.020.560.57LexiSafe-SC2026.020.510.18FISOR2026.020.480COptiDICE2026.020.261.02CPQ2026.02-0.221.28