ResearchBenchmarksAutonomous Navigation on Intersection Moderate 1,000 episodes per methodAutonomous Navigation on Intersection Moderate 1,000 episodes per methodFollow82.6Success RateMPC-RL73.44875.82478.280.576Apr 15, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision RateOther RateMPC-RLDifficulty=ModerateDifficulty=Moderate2026.0482.617.20.2Pure MPCDifficulty=ModerateDifficulty=Moderate2026.0477.622.30.1Pure PPODifficulty=ModerateDifficulty=Moderate2026.0473.826.10.1