# 论文基线对照报告

- 高噪声主评估点: `0.30`
- `rho_raw = 0.9692`
- `rho_proj = 0.9000`
- `projection_cost = 948.1848`
- apples-to-apples 核心对照: matched TD3 factorial / H2-style 变体。
- broader safe RL comparators: PPO-Penalty / PPO-Lagrangian / SAC-Lagrangian / Shielded SAC。
- `Shielded SAC` 指执行时经过 Koopman-CBF / projection postprocess 的 plain SAC actor。

| 方法 | Return | RMSE | Applied Var | Diff MSE | Dense violation | Bellman-Lyapunov max |
|---|---:|---:|---:|---:|---:|---:|
| CG-RVC + Jacobian penalty | -10.964 +/- 1.487 | 0.283 +/- 0.004 | 0.0125 +/- 0.0057 | 0.0299 +/- 0.0219 | 0.000 +/- 0.000 | 5.8037 +/- 0.9269 |
| Self-consistent certificate TD3 | -11.131 +/- 1.256 | 0.286 +/- 0.008 | 0.0122 +/- 0.0056 | 0.0287 +/- 0.0216 | 0.000 +/- 0.000 | 5.7475 +/- 0.8577 |

## Checks

