ResearchBenchmarksStabilization on Safe-Control-Gym Quadrotor Stab Observation UncertaintyFollow164Average ReturnPPOL129.68138.59147.5156.41Feb 24, 2026Evaluation ResultsMethodMethodLinksAverage ReturnAverage RiskPPOLepisodes=10, seeds=10episodes=10, seeds=102026.0216413Fuz-PPOLepisodes=10, seeds=10episodes=10, seeds=102026.021617Fuz-CPPOepisodes=10, seeds=10episodes=10, seeds=102026.021567RAMUepisodes=10, seeds=10episodes=10, seeds=102026.021466Fuz-CUPepisodes=10, seeds=10episodes=10, seeds=102026.021425CUPepisodes=10, seeds=10episodes=10, seeds=102026.021395CPPOepisodes=10, seeds=10episodes=10, seeds=102026.021319