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Safety Gymnasium dataset and benchmarks – Page 4 · SOTA2 Research

Research Datasets

Safety Gymnasium

Benchmarks

Task NameDataset NameSOTA MethodSort

Task NameDataset NameSOTA ResultTrendResults

Safe Navigation

Safety Gymnasium

100Success Rate

7

Safe Reinforcement Learning

Safety Gymnasium Swimmer

77.5Time-To-Safety (TTS)

6

Safe Reinforcement Learning

Safety Gymnasium Hopper

2.333TTS (Time To Safety)

6

Safe Reinforcement Learning

Safety Gymnasium HalfCheetah

3.206Time To Safety (TTS)

6

Safe Reinforcement Learning

Safety Gymnasium Humanoid

4.188Time To Safety (TTS)

6

Safe Reinforcement Learning

Safety Gymnasium Ant

4.591Time To Safety (TTS)

6

Safe Reinforcement Learning

Safety Gymnasium CarButton

4.525Time-to-Safety (TTS)

6

Safe Reinforcement Learning

Safety Gymnasium CarGoal

4.204Time To Safety (TTS)

6

Safe Reinforcement Learning

Safety Gymnasium PointButton

3.703Time-to-Safety (TTS)

6

Safe Reinforcement Learning

Safety Gymnasium PointGoal

3.098Time To Safety (TTS)

6

Continuous Control

Safety-Gymnasium SafetyAntVelocity (generalization)

45.5Episodic Reward

6

Continuous Control

Safety-Gymnasium SafetyCarGoal1 (generalization)

26.8Episodic Reward

6

Continuous Control

Safety-Gymnasium SafetyPointGoal1 (generalization)

24.5Episodic Reward

6

Safety Gymnasium (val)

16.2Reward

5

Safety Gymnasium (val)

18.3Reward

5

Safety Gymnasium (val)

41.7Reward

5

Safety Gymnasium (eval)

46.8Reward

5

Constrained Reinforcement Learning

Safety Gymnasium CarCircle2 (eval)

16Reward

4

Constrained Reinforcement Learning

Safety Gymnasium CarCircle1 (val)

18.6Reward

4

Constrained Reinforcement Learning

Safety Gymnasium PointCircle2 (eval)

41.2Reward

4

Safe Reinforcement Learning

Safety Gymnasium Button, threshold=40

9.01Return

4

Safe Reinforcement Learning

Safety Gymnasium Push, threshold=35

4.77Return

4

Safe Reinforcement Learning

Safety Gymnasium Goal, threshold=20

24.26Return

4

Safe Reinforcement Learning

Safety Gymnasium Humanoid threshold=5

5,948Return

4

Safe Reinforcement Learning

Safety Gymnasium Walker2d, threshold=5

3,057Return

4

Page 4 of 5

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Safe Reinforcement Learning Navigation Continuous Control Velocity Control Constrained Reinforcement Learning

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