ResearchBenchmarksAutonomous Highway Lane-changing on Highway Lane-changing Low densityFollow48.01Average RewardTG-STRL26.201231.863137.52543.1869Jun 25, 2026Evaluation ResultsMethodMethodLinksAverage RewardAverage CostCrash RatioAverage Velocity (m/s)TG-STRL2026.0648.010.09121.97SAC2026.0645.341.92621.37PPO-Lag2026.0642.990.64520.38TS2C2026.0627.040.1606.79