ResearchBenchmarksSafe Reinforcement Learning on road Static dynamicsSafe Reinforcement Learning on road Static dynamicsFollow0Mean Shield Invocations per EpisodeDMPS-0.0320.1840.40.616May 22, 2024Evaluation resultsMethodMethodLinksMean Shield Invocations per EpisodeSD Shield Invocations per EpisodeMean Safety Violations per EpisodeSD Safety Violations per EpisodeDMPS2024.0500——MPS2024.0500——REVEL2024.050.80.74——CPO2024.05——00PPO-lag2024.05——00TD32024.05——00