ResearchBenchmarksReinforcement Learning on Safety Gym Walker2dVelFollow0.79RewardBC-Safe0.010.21250.4150.6175Feb 19, 2026Evaluation ResultsMethodMethodLinksRewardCostBC-Safe2026.020.790.04LexiSafe-SC2026.020.780.4LSPC-O2026.020.760.02FISOR2026.020.380.36COptiDICE2026.020.120.74CPQ2026.020.040.21