ResearchBenchmarksSafe Reinforcement Learning on Spring PendulumFollow81.4Training Time (s)CUP-69.732950.4091,970.552,990.691Oct 14, 2023Evaluation ResultsMethodMethodLinksTraining Time (s)CUP2023.1081.4CPO2023.1098.6DDPG-L2023.10174.9RPO-DDPG2023.10242.6SAC-L2023.10309.5RPO-SAC2023.10419Safety Layer2023.103,859.7