ResearchBenchmarksReinforcement Learning on Safety Gym HopperVelFollow0.7RewardLexiSafe-SC0.10720.26110.4150.5689Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostLexiSafe-SC2026.020.70.5LSPC-O2026.020.690BC-Safe2026.020.360.67FISOR2026.020.170.32CPQ2026.020.142.11COptiDICE2026.020.131.51