ResearchBenchmarksSafe Reinforcement Learning on 3D Quadrotor Fixed ObstaclesSafe Reinforcement Learning on 3D Quadrotor Fixed ObstaclesFollow100Verified-15 CountVSRL-4235077May 25, 2024Evaluation resultsMethodMethodLinksVerified-15 CountVerified-Max BoundEmp-15 Safety RateEmp-500 Safety RateAverage RewardVSRL2024.051001510010012,214MBPPO2024.0541.1175.473.11,329PPO-Lag2024.050385.281.213,211PPO-PID2024.050389.488.314,512CAP2024.050463.659.214,111CBF-RL2024.050282.379.214,010RESPO2024.050165.721.3798