ResearchBenchmarksNavigation on Safety Gymnasium Button (test)Navigation on Safety Gymnasium Button (test)Follow9.01ReturnPPO-BT1.733.625.517.4Mar 24, 2026Evaluation resultsMethodMethodLinksReturnCostLearned CostAccuracyPPO-BTThreshold=40Threshold=402026.039.0150.780.5182PPO-LagThreshold=40, Oracle=trueThreshold=40, Oracle=true2026.038.9638.25——PbCRLThreshold=40Threshold=402026.038.7337.510.1280RLSFThreshold=40Threshold=402026.032.014.2678.0473