ResearchBenchmarksHighway Merging on Highway Merging HardHighway Merging on Highway Merging HardFollow87.8Success RatePure MPC-3.51220.19443.967.606Apr 15, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision RateOff-road RatePure MPC2026.0487.812.20MPC-RLZero-shot transfer=trueZero-shot transfer=true2026.0483.316.70Pure PPOZero-shot transfer=trueZero-shot transfer=true2026.0400100