ResearchBenchmarksAutonomous Navigation on Intersection Easy 1,000 episodes per methodAutonomous Navigation on Intersection Easy 1,000 episodes per methodFollow94.8Success RateMPC-RL82.94486.02289.192.178Apr 15, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision RateOther RateMPC-RLDifficulty=EasyDifficulty=Easy2026.0494.85.20Pure MPCDifficulty=EasyDifficulty=Easy2026.0489.410.50.1Pure PPODifficulty=EasyDifficulty=Easy2026.0483.45.910.7