ResearchBenchmarksContinuous Control on Safety Gymnasium Car Goal (Soft Constraint)Follow27.37ReturnPPOLag26.402826.653926.90527.1561Jun 28, 2024Evaluation ResultsMethodMethodLinksReturnCostPPOLagCost Knowledge=KnownCost Knowledge=Known2024.0627.3741.67SIMKCCost Knowledge=KnownCost Knowledge=Known2024.0626.4435.41