Lane-keeping on Unicycle lane-keeping (test)
0.52RMSE Position (m)SAC-Lag.
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| SAC-Lag.Safe RL category=Constraint2026.06 | 0.52 | 1.22 | 0.12 | 30 | 16.7 | 1.03 | |
| PS2SASafe RL category=PSRL2026.06 | 0.52 | 0.83 | 0.11 | 100 | 100 | 0 | |
| SAC-PenlowSafe RL category=Penalty2026.06 | 0.53 | 2.14 | 0.19 | 1.8 | 0 | 8.12 | |
| MPSSafe RL category=PSRL2026.06 | 0.68 | 0.48 | 0.17 | 97.8 | 97.8 | 0.67 | |
| PS2ABPSafe RL category=PSRL2026.06 | 0.97 | 0.43 | 0.15 | 100 | 100 | 0 | |
| SAC-PenhighSafe RL category=Penalty2026.06 | 1.11 | 1.85 | 0.15 | 100 | 100 | 0 | |
| CBF-RLSafe RL category=PSRL2026.06 | 1.78 | 4.72 | 0.27 | 99.8 | 100 | 0 | |
| CPOSafe RL category=Constraint2026.06 | 2.51 | 4.44 | 0.27 | 64.2 | 73.7 | 76.94 |