ResearchBenchmarksReinforcement Learning on Safety Gym HalfCheetahVelFollow0.97RewardLSPC-O0.26280.44640.630.8136Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostLSPC-O2026.020.970.1LexiSafe-SC2026.020.970.69FISOR2026.020.890BC-Safe2026.020.880.54COptiDICE2026.020.650CPQ2026.020.290.74