Benchmarks

We conducted experiments in both the Bullet-Safety-Gym and the SafetyGymnasium environments. All the experiments use the default configuration parameters as shown in the examples/mlp training scripts. The result curves are averaged over 3 seeds.

Bullet-Safety-Gym

You can use the drop-down menu to check the reward and cost curves.

Select the environment: SafetyCarCircle-v0 SafetyCarRun-v0 SafetyDroneCircle-v0 SafetyDroneRun-v0 SafetyBallCircle-v0 SafetyBallRun-v0 SafetyAntRun-v0

Safety-Gymnasium-Velocity-Tasks

Select the environment: SafetyHalfCheetahVelocityGymnasium-v1 SafetyHopperVelocityGymnasium-v1 SafetySwimmerVelocityGymnasium-v1 SafetyWalker2dVelocityGymnasium-v1 SafetyAntVelocityGymnasium-v1

Safety-Gymnasium-Navigation-Tasks

Select the environment: SafetyPointButton1Gymnasium-v0 SafetyPointButton2Gymnasium-v0 SafetyPointGoal1Gymnasium-v0 SafetyPointGoal2Gymnasium-v0 SafetyPointPush1Gymnasium-v0 SafetyPointPush2Gymnasium-v0