SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfer - As, Yarden; Qu, Chengrui (Ray); Unger, Benjamin; Kang, Dongho; van der Hart, Max; Shi, Laixi; Coros, Stelian; Wierman, Adam; Krause, Andreas (Advances in Neural Information Processing Systems, 2025)