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ResearchFormerly WizWand

Safe Reinforcement Learning on Safety Gymnasium Humanoid (C=25)

6,496.85ReturnCSPO
2,264.61163,363.36584,462.125,560.8742Jun 12, 2026
Updated 4mo ago

Evaluation results

MethodLinks
CSPO2026.066,496.8518
CPPOPID2026.066,417.0526.4
PPO-Lag2026.066,414.5625.49
IPO2026.066,270.2530.4
CPO2026.066,213.1518.3
APPO2026.066,092.9525.3
EPO2026.065,745.6513.1
P3O2026.065,684.2222
C-TRPO2026.065,450.5215.9
FOCOPS2026.065,295.8826.7
PCPO2026.064,706.0714.7
CUP2026.062,427.3918.9