ResearchBenchmarksSafe Reinforcement Learning on Safety Gymnasium HumanoidFollow4.188Time To Safety (TTS)APPO3.967925.453466.9398.42454Jun 12, 2026Evaluation ResultsMethodMethodLinksTime To Safety (TTS)Risk Profile (RP)Number of Violations (#V)APPO2026.064.1881.0001135.4CSPO2026.064.8671.006101CUP2026.066.2671.057536CPPOPID2026.066.4791.0046124FOCOPS2026.068.1391.028279PPO-Lag2026.069.691.0065140.4