ResearchBenchmarksAutonomous Highway Lane-changing on Highway Lane-changing (Medium density)Follow47.34Average RewardTG-STRL26.186431.678237.1742.6618Jun 25, 2026Evaluation ResultsMethodMethodLinksAverage RewardAverage CostCrash RatioAverage Velocity (m/s)TG-STRL2026.0647.340.11021.8SAC2026.0643.571.69820.76PPO-Lag2026.0642.540.68520.31TS2C2026.06270.2306.65