# Goal1 on Safety Gymnasium Source: [Goal1 on Safety Gymnasium]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:02:18.331Z Evaluation of performance on the Goal1 task within the Safety Gymnasium environment, focusing on Reward and Cost metrics. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Goal1 | | Dataset (including any stated split) | Safety Gymnasium | | Metric | Reward | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 16 of 16 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Reward](): Higher is better; unit: SCALAR. - [Cost](): Lower is better; unit: SCALAR. ## Recorded results | Method | Reward | Result date | Report paper | | --- | --- | --- | --- | | DDPG | 7.9 | Not recorded | 68fa7c6b1e209131cea8df7e | | SC | 7.57 | Not recorded | 68fa7c6b1e209131cea8df7e | | CSC | 7.21 | Not recorded | 68fa7c6b1e209131cea8df7e | | USC | 7.19 | Not recorded | 68fa7c6b1e209131cea8df7e | | CPO | 6.76 | Not recorded | 68fa7c6b1e209131cea8df7e | | RCPO | 6.74 | Not recorded | 68fa7c6b1e209131cea8df7e | | SC | 6.6 | Not recorded | 68fa7c6b1e209131cea8df7e | | DDPG | 6.57 | Not recorded | 68fa7c6b1e209131cea8df7e | | RCPO | 6.56 | Not recorded | 68fa7c6b1e209131cea8df7e | | CSC | 6.56 | Not recorded | 68fa7c6b1e209131cea8df7e | | USC (NR) | 6.56 | Not recorded | 68fa7c6b1e209131cea8df7e | | USC | 6.55 | Not recorded | 68fa7c6b1e209131cea8df7e | | PID-Lag | 6.5 | Not recorded | 68fa7c6b1e209131cea8df7e | | PID-Lag | 6.48 | Not recorded | 68fa7c6b1e209131cea8df7e | | CPO | 6.4 | Not recorded | 68fa7c6b1e209131cea8df7e | | USC (NR) | 5.79 | Not recorded | 68fa7c6b1e209131cea8df7e | ### DDPG Reward: 7.9. Result ID: 699af4305698665ec4857ba3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"chi":"1.0"}. This record does not assert independent reproduction. ### SC Reward: 7.57. Result ID: 699af4305698665ec4857ba7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"chi":"1.0"}. This record does not assert independent reproduction. ### CSC Reward: 7.21. Result ID: 699af4305698665ec4857ba8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"chi":"1.0"}. This record does not assert independent reproduction. ### USC Reward: 7.19. Result ID: 699af4305698665ec4857baa. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"chi":"1.0","Refinement":"Refined"}. This record does not assert independent reproduction. ### CPO Reward: 6.76. Result ID: 699af4305698665ec4857ba5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"chi":"1.0"}. This record does not assert independent reproduction. ### RCPO Reward: 6.74. Result ID: 699af4305698665ec4857ba6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"chi":"1.0"}. This record does not assert independent reproduction. ### SC Reward: 6.6. Result ID: 699af4305698665ec4857bff. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Cost Limit (chi)":"1.0"}. This record does not assert independent reproduction. ### DDPG Reward: 6.57. Result ID: 699af4305698665ec4857bfb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Cost Limit (chi)":"1.0"}. This record does not assert independent reproduction. ### RCPO Reward: 6.56. Result ID: 699af4305698665ec4857bfe. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Cost Limit (chi)":"1.0"}. This record does not assert independent reproduction. ### CSC Reward: 6.56. Result ID: 699af4305698665ec4857c00. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Cost Limit (chi)":"1.0"}. This record does not assert independent reproduction. ### USC (NR) Reward: 6.56. Result ID: 699af4305698665ec4857c01. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Cost Limit (chi)":"1.0"}. This record does not assert independent reproduction. ### USC Reward: 6.55. Result ID: 699af4305698665ec4857c02. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Cost Limit (chi)":"1.0"}. This record does not assert independent reproduction. ### PID-Lag Reward: 6.5. Result ID: 699af4305698665ec4857ba4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"chi":"1.0"}. This record does not assert independent reproduction. ### PID-Lag Reward: 6.48. Result ID: 699af4305698665ec4857bfc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Cost Limit (chi)":"1.0"}. This record does not assert independent reproduction. ### CPO Reward: 6.4. Result ID: 699af4305698665ec4857bfd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Cost Limit (chi)":"1.0"}. This record does not assert independent reproduction. ### USC (NR) Reward: 5.79. Result ID: 699af4305698665ec4857ba9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"chi":"1.0","Refinement":"None"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.