ResearchBenchmarksContinuous Control on Safety Gymnasium Point Goal (Soft Constraint)Follow26.16ReturnPPOLag26.097626.113826.1326.1462Jun 28, 2024Evaluation ResultsMethodMethodLinksReturnCostPPOLagCost Knowledge=KnownCost Knowledge=Known2024.0626.1634.19SIMKCCost Knowledge=KnownCost Knowledge=Known2024.0626.131.83