ResearchBenchmarksSafe Reinforcement Learning on Safety Gymnasium Button (threshold=40)Follow9.01ReturnPPO-BT1.733.625.517.4Mar 24, 2026Evaluation ResultsMethodMethodLinksReturnCostPPO-BT2026.039.0150.78PPO-LagType=OracleType=Oracle2026.038.9638.25PbCRL2026.038.7337.51RLSF2026.032.014.26