ResearchBenchmarksSafe Reinforcement Learning on Safety Gymnasium CarButtonFollow4.525Time-to-Safety (TTS)CSPO4.21566.304058.392510.48095Jun 12, 2026Evaluation ResultsMethodMethodLinksTime-to-Safety (TTS)Risk Profile (RP)Number of Violations (#V)CSPO2026.064.5251.005116.33APPO2026.064.9771.051141.8CUP2026.0610.3670.8464160.5FOCOPS2026.0611.3720.8209.5PPO-Lag2026.0611.8340.85214.2CPPOPID2026.0612.260.8264107.6