想快速测试安全RL算法？CRAX用JAX把基准跑快100倍，还自带六个环境和三级难度，帮你一眼看出哪个方法在安全与性能上最均衡。
CRAX基于MuJoCo XLA（MJX）物理引擎，利用JAX的向量化操作和硬件加速，在安全强化学习基准测试中实现约100倍于CPU版本的速度提升。该基准包含六套环境和三类智能体任务，每类任务设三个难度级别。研究者在六个主流安全RL方法上的评估表明，没有一种方法在所有任务中占优，揭示了性能与安全之间的权衡。实验还发现，跨难度级别的课程学习与安全迁移在困难设置下比直接训练效果更好。
CRAX: Fast Safe Reinforcement Learning Benchmarking
Safety is a core concern for deploying reinforcement learning (RL) agents in real-world domains such as robotics and autonomous driving. While benchmarks have been central to progress in RL, existing safety benchmarks with high-fidelity 3D physics remain computationally slow, limiting large-scale experimentation and rapid prototyping. To address this gap, we propose CRAX (Constrained RL Accelerated with JAX). Built on top of the MuJoCo XLA (MJX) physics engine with realistic 3D dynamics, CRAX leverages vectorized operations and hardware acceleration, yielding up to ~100x speedups over comparable CPU-based safety benchmarks. The benchmark features six environment suites and three agent-specific tasks, each spanning three difficulty levels. Evaluating six popular safe RL methods shows that no single approach dominates across all tasks, and reveals the trade-offs between performance and safety. We find that curriculum learning across difficulty levels and safety transfer can improve performance over direct training in harder settings.