ResearchBenchmarksHighway Lane-changing on NGSIM US-101Follow37.46Average RewardTG-STRL20.310424.762729.21533.6673Jun 25, 2026Evaluation ResultsMethodMethodLinksAverage RewardAverage CostCrash RatioAverage Velocity (m/s)TG-STRL2026.0637.460.74029.9PPO-Lag2026.0620.970.733510.55