ResearchBenchmarksSafe Reinforcement Learning on Safety Gymnasium CarGoalFollow4.204Time To Safety (TTS)CSPO2.7915612.3255321.859531.39347Jun 12, 2026Evaluation ResultsMethodMethodLinksTime To Safety (TTS)Risk Profile (RP)Number of Violations (#V)CSPO2026.064.2041116.8APPO2026.064.3820.994134.6CPPOPID2026.066.1310.9932148PPO-Lag2026.067.241.004141.2CUP2026.069.8721.0098117.6FOCOPS2026.0639.5151.0318200.8