ResearchBenchmarksReinforcement Learning on Safety Gym SwimmerVelFollow0.63RewardCOptiDICE-0.06680.11410.2950.4759Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostCOptiDICE2026.020.637.58BC-Safe2026.020.511.07LexiSafe-SC2026.020.510.92LSPC-O2026.020.440.14CPQ2026.020.132.66FISOR2026.02-0.040