# CarGoal2 on Safety Gymnasium Source: [CarGoal2 on Safety Gymnasium]() Collection index: [llms.txt]() Data updated: 2026-04-30T07:42:40.959Z Evaluation of agent performance on the CarGoal2 task within the Safety Gymnasium environment, measuring 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 | CarGoal2 | | Dataset (including any stated split) | Safety Gymnasium | | Metric | Reward | | Unit | SCALAR | | 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: SCALAR. - [Cost](): Lower is better; unit: SCALAR. ## Recorded results | Method | Reward | Result date | Report paper | | --- | --- | --- | --- | | CPQ | 0.65 | Not recorded | 69f2e23455a3c32af89fc7ec | | CPQ | 0.65 | Not recorded | 69f2e23455a3c32af89fc7ec | | DT + SAS | 0.48 | Not recorded | 69f2e23455a3c32af89fc7ec | | CDT | 0.48 | Not recorded | 69f2e23455a3c32af89fc7ec | | DT + SAS | 0.48 | Not recorded | 69f2e23455a3c32af89fc7ec | | CDT | 0.48 | Not recorded | 69f2e23455a3c32af89fc7ec | | CDT + SAS | 0.42 | Not recorded | 69f2e23455a3c32af89fc7ec | | CDT + SAS | 0.42 | Not recorded | 69f2e23455a3c32af89fc7ec | | BCQ-Lag | 0.3 | Not recorded | 69f2e23455a3c32af89fc7ec | | BCQ-Lag | 0.3 | Not recorded | 69f2e23455a3c32af89fc7ec | | BEAR-Lag | 0.28 | Not recorded | 69f2e23455a3c32af89fc7ec | | BEAR-Lag | 0.28 | Not recorded | 69f2e23455a3c32af89fc7ec | | COptiDICE | 0.25 | Not recorded | 69f2e23455a3c32af89fc7ec | | COptiDICE | 0.25 | Not recorded | 69f2e23455a3c32af89fc7ec | | BC-All | 0.23 | Not recorded | 69f2e23455a3c32af89fc7ec | | BC-All | 0.23 | Not recorded | 69f2e23455a3c32af89fc7ec | | BC-Safe | 0.14 | Not recorded | 69f2e23455a3c32af89fc7ec | | BC-Safe | 0.14 | Not recorded | 69f2e23455a3c32af89fc7ec | | DCRL | 0.11 | Not recorded | 69f2e23455a3c32af89fc7ec | ### CPQ Reward: 0.65. Result ID: 69f3071147f34ce924d9237e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### CPQ Reward: 0.65. Result ID: 69f3071147f34ce924d9240b. [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: 0.48. Result ID: 69f3071147f34ce924d92377. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"DT","Alignment strategy (SAS)":"Lyapunov-Guided"}. This record does not assert independent reproduction. ### CDT Reward: 0.48. Result ID: 69f3071147f34ce924d92379. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"CDT"}. This record does not assert independent reproduction. ### DT + SAS Reward: 0.48. Result ID: 69f3071147f34ce924d92404. [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: 0.48. Result ID: 69f3071147f34ce924d92406. [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: 0.42. Result ID: 69f3071147f34ce924d92378. [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: 0.42. Result ID: 69f3071147f34ce924d92405. [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: 0.3. Result ID: 69f3071147f34ce924d9237c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BCQ-Lag Reward: 0.3. Result ID: 69f3071147f34ce924d92409. [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: 0.28. Result ID: 69f3071147f34ce924d9237d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BEAR-Lag Reward: 0.28. Result ID: 69f3071147f34ce924d9240a. [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: 0.25. Result ID: 69f3071147f34ce924d9237f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### COptiDICE Reward: 0.25. Result ID: 69f3071147f34ce924d9240c. [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: 0.23. Result ID: 69f3071147f34ce924d9237a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BC-All Reward: 0.23. Result ID: 69f3071147f34ce924d92407. [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: 0.14. Result ID: 69f3071147f34ce924d9237b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BC-Safe Reward: 0.14. Result ID: 69f3071147f34ce924d92408. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"cost thresholds":"3","evaluation episodes":"20","random seeds":"3"}. This record does not assert independent reproduction. ### DCRL Reward: 0.11. Result ID: 69f3071147f34ce924d92380. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.