ResearchBenchmarksGoal achievement on Safety Gymnasium Goal2 v0 (test)Follow1Success RateDDPG0.950.97511.025Oct 21, 2025Evaluation ResultsMethodMethodLinksSuccess RateDDPG2025.101PID-Lag2025.101CPO2025.101RCPO2025.101SC2025.101CSC2025.101USCrefinement=falserefinement=false2025.101USCrefinement=truerefinement=true2025.101