ResearchBenchmarksSafe Reinforcement Learning on obstacle2 Static dynamicsSafe Reinforcement Learning on obstacle2 Static dynamicsFollow0Mean Shield Invocations / EpisodeDMPS-1.3527.77416.926.026May 22, 2024Evaluation resultsMethodMethodLinksMean Shield Invocations / EpisodeSD Shield Invocations / EpisodeMean Safety Violations / EpisodeSD Safety Violations / EpisodeDMPS2024.0500——MPS2024.0500——REVEL2024.0533.830.3——CPO2024.05——0.90.2PPO-lag2024.05——6.420.19TD32024.05——00