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Papers Benchmarks Datasets Tasks

Safe Reinforcement Learning research benchmarks – Page 5 · SOTA2 Research

Safe Reinforcement Learning

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

single-gate Double Integrator dynamics

0Mean Safety Violations per Episode

3

Feb 26, 2026

dynamic-obst Double Integrator dynamics

0.8Mean Safety Violations / Episode

3

Feb 26, 2026

road2d Static dynamics

0Shield Invocations / Episode (Mean)

3

Feb 26, 2026

road Static dynamics

0Mean Shield Invocations per Episode

3

Feb 26, 2026

mountain-car Static dynamics

0Mean Shield Invocations per Episode

3

Feb 26, 2026

obstacle2 Static dynamics

0Mean Shield Invocations / Episode

3

Feb 26, 2026

obstacle Static dynamics

0Mean Shield Invocations per Episode

3

Feb 26, 2026

SafeCarRun dense cost setting

750.1Final Reward

2

Jun 23, 2026

MetaDrive Medium (held-out seeds 10000–10019)

41Categorical Success Rate

2

Jun 11, 2026

MetaDrive Easy (held-out seeds 10000–10019)

30Categorical Violation Rate (%)

2

Jun 11, 2026

Bullet SafetyCarReach held-out seeds 10000–10019

7.5Success Rate (%)

2

Jun 11, 2026

FormulaOne L2 (held-out seeds 10000–10019)

2Categorical Violation Rate (%)

2

Jun 11, 2026

3Regret

2

Mar 31, 2026

Linear Mixture MDP inhomogeneous, episodic B-bounded

2Regret

2

Mar 31, 2026

SafeCarRun sparse cost setting

750.1Final Reward

1

Jun 23, 2026

LTC controller (Partial rollouts)

—

—Primary metric

0

Apr 2, 2026

—

—Primary metric

0

Feb 26, 2026

—

—Primary metric

0

Feb 26, 2026

Safety-Gymnasium HalfCheetah-Velocity (train)

—

—Primary metric

0

Feb 26, 2026

—

—Primary metric

0

Feb 26, 2026

—

—Primary metric

0

Feb 26, 2026

Safety-Gymnasium Hopper-Velocity (train)

—

—Primary metric

0

Feb 26, 2026

RacecarGoal (train)

—

—Primary metric

0

Feb 26, 2026

CarPush (train)

—

—Primary metric

0

Feb 26, 2026

T2D cohorts (aggregated)

—

—Primary metric

0

Feb 26, 2026

Page 5 of 6

Popular datasets

Safety Gymnasium DSRL Bullet-Safety-Gym SMARTS double-gates

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