ResearchBenchmarksContinuous Control on Safety Gymnasium Car Circle Hard ConstraintFollow15.21ReturnSIMKC14.305214.540114.77515.0099Jun 28, 2024Evaluation ResultsMethodMethodLinksReturnC.V RateSIMKCCost Knowledge=KnownCost Knowledge=Known2024.0615.21540PPOLagCost Knowledge=KnownCost Knowledge=Known2024.0614.3484