Safety Velocity Control on SafetySwimmer
6.95Violation RateCPPOADRC
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| CPPOADRCSafety Controller=ADRC, Base Algorithm=PPO2026.01 | 6.95 | 1.56 | 18.34 | 29.07 | |
| TRPOADRCSafety Controller=ADRC, Base Algorithm=TRPO2026.01 | 11.3 | 2.44 | 20.82 | 35.66 | |
| CPPOPIDSafety Controller=PID, Base Algorithm=PPO2026.01 | 28.33 | 1.84 | 23.64 | 32.54 | |
| TRPOPIDSafety Controller=PID, Base Algorithm=TRPO2026.01 | 35.43 | 1.78 | 22.48 | 27.73 |