ResearchBenchmarksAutonomous Navigation on Intersection Hard 1,000 episodes per methodAutonomous Navigation on Intersection Hard 1,000 episodes per methodFollow67.3Success RateMPC-RL52.7456.5260.364.08Apr 15, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision RateOther RateMPC-RLDifficulty=HardDifficulty=Hard2026.0467.332.20.5Pure MPCDifficulty=HardDifficulty=Hard2026.0462.836.40.8Pure PPODifficulty=HardDifficulty=Hard2026.0453.342.14.6