ResearchBenchmarksAutonomous Highway Lane-changing on Highway Lane-changing High densityFollow46.03Average RewardTG-STRL26.238831.376936.51541.6531Jun 25, 2026Evaluation ResultsMethodMethodLinksAverage RewardAverage CostCrash RatioAverage Velocity (m/s)TG-STRL2026.0646.030.16121.3SAC2026.0643.161.84920.46PPO-Lag2026.0642.160.85620.18TS2C2026.06270.2516.42