ResearchBenchmarksSafe Reinforcement Learning on Safety Gymnasium SwimmerFollow77.5Time-To-Safety (TTS)FOCOPS1.4624821.2029940.943560.68401Jun 12, 2026Evaluation ResultsMethodMethodLinksTime-To-Safety (TTS)Risk Profile (RP)Number of Violations (#V)FOCOPS2026.0677.51.013550.33CUP2026.0638.451.006593.6CPPOPID2026.0612.7960.9915116.45PPO-Lag2026.068.6560.81128APPO2026.065.2141.00125.45CSPO2026.064.3870.910620.1