ResearchBenchmarksNavigation on Safety Gymnasium Push (test)Navigation on Safety Gymnasium Push (test)Follow4.77ReturnPPO-Lag0.9221.9212.923.919Mar 24, 2026Evaluation resultsMethodMethodLinksReturnCostLearned CostAccuracyPPO-LagThreshold=35, Oracle=trueThreshold=35, Oracle=true2026.034.7736.17——PPO-BTThreshold=35Threshold=352026.034.0941.851.6284PbCRLThreshold=35Threshold=352026.033.234.860.7386RLSFThreshold=35Threshold=352026.031.0720.0580.4880