ResearchBenchmarksSafe Reinforcement Learning on SafetyGym CarGoal1 (CG1)Follow18.3Final RewardITES5.65368.936812.2215.5032Jun 21, 2026Evaluation ResultsMethodMethodLinksFinal RewardFinal CostITES2026.0618.321.72FOCOPS2026.0615.2331.66PPOLAG2026.0613.2721.72TD3LAG2026.068.2153.7SafeDreamer2026.066.60CUP2026.066.1436.12