ResearchBenchmarksTraining Time on Safe CartPole (Safe RL)Follow68.7Training Time (s)CPO28.768298.309567.85837.391Oct 14, 2023Evaluation ResultsMethodMethodLinksTraining Time (s)CPO2023.1068.7CUP2023.1075.2DDPG-L2023.10150.2RPO-DDPG2023.10190.2SAC-L2023.10268.5RPO-SAC2023.10375.5Safety Layer2023.101,067