ResearchBenchmarksSafe Reinforcement Learning on Safety Gymnasium PointButtonFollow3.703Time-to-Safety (TTS)CSPO3.36285.659157.955510.25185Jun 12, 2026Evaluation ResultsMethodMethodLinksTime-to-Safety (TTS)Risk Profile (RP)Number of Violations (#V)CSPO2026.063.7030.961104CPPOPID2026.065.0411.0132124.6PPO-Lag2026.065.1440.9882.6APPO2026.065.1550.942145FOCOPS2026.069.4790.9984130.2CUP2026.0612.2080.9732126