ResearchBenchmarksGoal Achievement on Safety Gymnasium Goal1 v0 (test)Follow100Success RateDDPG9597.5100102.5Oct 21, 2025Evaluation ResultsMethodMethodLinksSuccess RateDDPG2025.10100PID-Lag2025.10100CPO2025.10100RCPO2025.10100SC2025.10100CSC2025.10100USCrefinement=falserefinement=false2025.10100USCrefinement=truerefinement=true2025.10100