Continuous Control on Safety-Gymnasium SafetyAntVelocity (generalization)
45.5Episodic RewardCPO-FOAM
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| CPO-FOAM2026.04 | 45.5 | 18.4 | |
| Lagrangian PPO2026.04 | 35.2 | 85.4 | |
| Vanilla CPO2026.04 | 33.6 | 45.2 | |
| RCPO2026.04 | 32.8 | 72.5 | |
| PID-Lagrangian2026.04 | 30.5 | 35.8 | |
| IPO2026.04 | 28.4 | 55.6 |