ResearchBenchmarksStabilization on Safe-Control-Gym Cartpole Stab Observation UncertaintyFollow59Average ReturnFuz-CPPO30.9238.2145.552.79Feb 24, 2026Evaluation ResultsMethodMethodLinksAverage ReturnAverage RiskFuz-CPPOepisodes=10, seeds=10episodes=10, seeds=102026.02590.32Fuz-PPOLepisodes=10, seeds=10episodes=10, seeds=102026.02470.34PPOLepisodes=10, seeds=10episodes=10, seeds=102026.02450.4CPPOepisodes=10, seeds=10episodes=10, seeds=102026.02410.47Fuz-CUPepisodes=10, seeds=10episodes=10, seeds=102026.02400.26RAMUepisodes=10, seeds=10episodes=10, seeds=102026.02350.49CUPepisodes=10, seeds=10episodes=10, seeds=102026.02320.29