ResearchBenchmarksSafe Reinforcement Learning on Safety Gymnasium HopperFollow2.333TTS (Time To Safety)CSPO1.4797.243513.00818.7725Jun 12, 2026Evaluation ResultsMethodMethodLinksTTS (Time To Safety)RP (Risk Profile)#V (Number of Violations)CSPO2026.062.3331.00213.333APPO2026.062.9610.9966129.2CPPOPID2026.069.4790.9337114.22FOCOPS2026.0614.1111.0041110.8PPO-Lag2026.0620.6560.818883.2CUP2026.0623.6831.067890.8