ResearchBenchmarksNavigation on Safety Gymnasium Goal (test)Navigation on Safety Gymnasium Goal (test)Follow24.26ReturnPPO-BT5.040810.030415.0220.0096Mar 24, 2026Evaluation resultsMethodMethodLinksReturnCostLearned CostAccPPO-BTThreshold=20Threshold=202026.0324.2626.970.1285PPO-LagThreshold=20, Oracle=trueThreshold=20, Oracle=true2026.0323.520.7——PbCRLThreshold=20Threshold=202026.0323.4118.50.587RLSFThreshold=20Threshold=202026.035.788.289.5283