Velocity Control on Safety Gymnasium HalfCheetah benchmark leaderboard · SOTA2 Research

Velocity Control on Safety Gymnasium HalfCheetah

3,044.9ReturnUCP

Evaluation Results

Method	Links
UCP2026.06		3,044.9	14.9
PPOLag2026.06		3,024.1	17.3
SACLag2026.06		2,967.9	146
PPOSaute2026.06		2,792.7	17.1
SACPID2026.06		2,447	3
PPO-ET2026.06		2,091.8	9.9
TD3Lag2026.06		1,977.4	19.6
TD3PID2026.06		1,664.6	6.3