# CarGoal1 on Safety Gymnasium Source: [CarGoal1 on Safety Gymnasium]() Collection index: [llms.txt]() Data updated: 2026-04-30T07:42:40.924Z Evaluation of agent performance on the CarGoal1 task within the Safety Gymnasium environment, focusing on Reward and Cost metrics. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | CarGoal1 | | Dataset (including any stated split) | Safety Gymnasium | | Metric | Reward | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 19 of 19 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Reward](): Higher is better; unit: PERCENT. - [Cost](): Lower is better; unit: SCALAR. ## Recorded results | Method | Reward | Result date | Report paper | | --- | --- | --- | --- | | CPQ | 79 | Not recorded | 69f2e23455a3c32af89fc7ec | | CPQ | 79 | Not recorded | 69f2e23455a3c32af89fc7ec | | DT + SAS | 67 | Not recorded | 69f2e23455a3c32af89fc7ec | | DT + SAS | 67 | Not recorded | 69f2e23455a3c32af89fc7ec | | CDT | 66 | Not recorded | 69f2e23455a3c32af89fc7ec | | CDT | 66 | Not recorded | 69f2e23455a3c32af89fc7ec | | CDT + SAS | 65 | Not recorded | 69f2e23455a3c32af89fc7ec | | CDT + SAS | 65 | Not recorded | 69f2e23455a3c32af89fc7ec | | BEAR-Lag | 61 | Not recorded | 69f2e23455a3c32af89fc7ec | | BEAR-Lag | 61 | Not recorded | 69f2e23455a3c32af89fc7ec | | BCQ-Lag | 47 | Not recorded | 69f2e23455a3c32af89fc7ec | | BCQ-Lag | 47 | Not recorded | 69f2e23455a3c32af89fc7ec | | BC-All | 39 | Not recorded | 69f2e23455a3c32af89fc7ec | | BC-All | 39 | Not recorded | 69f2e23455a3c32af89fc7ec | | COptiDICE | 35 | Not recorded | 69f2e23455a3c32af89fc7ec | | DCRL | 35 | Not recorded | 69f2e23455a3c32af89fc7ec | | COptiDICE | 35 | Not recorded | 69f2e23455a3c32af89fc7ec | | BC-Safe | 24 | Not recorded | 69f2e23455a3c32af89fc7ec | | BC-Safe | 24 | Not recorded | 69f2e23455a3c32af89fc7ec | ### CPQ Reward: 79. Result ID: 69f3071147f34ce924d92374. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### CPQ Reward: 79. Result ID: 69f3071147f34ce924d92402. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. ### DT + SAS Reward: 67. Result ID: 69f3071147f34ce924d9236d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"DT","Alignment strategy (SAS)":"Lyapunov-Guided"}. This record does not assert independent reproduction. ### DT + SAS Reward: 67. Result ID: 69f3071147f34ce924d923fb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. ### CDT Reward: 66. Result ID: 69f3071147f34ce924d9236f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"CDT"}. This record does not assert independent reproduction. ### CDT Reward: 66. Result ID: 69f3071147f34ce924d923fd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. ### CDT + SAS Reward: 65. Result ID: 69f3071147f34ce924d9236e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"CDT","Alignment strategy (SAS)":"Lyapunov-Guided"}. This record does not assert independent reproduction. ### CDT + SAS Reward: 65. Result ID: 69f3071147f34ce924d923fc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. ### BEAR-Lag Reward: 61. Result ID: 69f3071147f34ce924d92373. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BEAR-Lag Reward: 61. Result ID: 69f3071147f34ce924d92401. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. ### BCQ-Lag Reward: 47. Result ID: 69f3071147f34ce924d92372. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BCQ-Lag Reward: 47. Result ID: 69f3071147f34ce924d92400. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. ### BC-All Reward: 39. Result ID: 69f3071147f34ce924d92370. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BC-All Reward: 39. Result ID: 69f3071147f34ce924d923fe. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. ### COptiDICE Reward: 35. Result ID: 69f3071147f34ce924d92375. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DCRL Reward: 35. Result ID: 69f3071147f34ce924d92376. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### COptiDICE Reward: 35. Result ID: 69f3071147f34ce924d92403. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. ### BC-Safe Reward: 24. Result ID: 69f3071147f34ce924d92371. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BC-Safe Reward: 24. Result ID: 69f3071147f34ce924d923ff. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.