ResearchTasksBallRunBallRunFollowBenchmarksDatasetSOTA methodSortMost resultsRecently updatedMost papersApplyDatasetSOTA methodMetricTrendResultsLast updatedBullet-Safety-Gym OSRLFISOR18Reward11Apr 30, 2026Safety GymnasiumDT + SAS0.99Reward9Apr 30, 2026Bullet GymReference policy (πref)0.95Normalized Reward6May 21, 2026Bullet Safety Gym eval environmentFOCOPS603.2Reward4Jul 1, 2026