ResearchBenchmarksEmergency Braking on CARLA Town 4Follow85Route CompletionOurs20.5237.265470.74Mar 26, 2026Evaluation ResultsMethodMethodLinksRoute CompletionDriving ScoreInfraction RateOurs2026.03857984RLHF2026.03736680BC2026.03655572PHIL2026.03594467TD3-lag2026.03443572Vanilla2026.03231666