ResearchBenchmarksSafe Reinforcement Learning on Safety Gymnasium PointButton (C=25)Follow10.15ReturnCSPO1.03963.40485.778.1352Jun 12, 2026Evaluation ResultsMethodMethodLinksReturnCostCSPO2026.0610.1524.4PPO-Lag2026.069.0524.1APPO2026.069.0125.2IPO2026.067.9228.6CPO2026.067.0225C-TRPO2026.066.528.9EPO2026.066.3824.3FOCOPS2026.065.5526.8P3O2026.064.1626.3CUP2026.063.5630.1PCPO2026.062.6133.5CPPOPID2026.061.3924