ResearchBenchmarksHighway Merging on Highway Merging ModerateFollow100Success RateMPC-RL-4235077Apr 15, 2026Evaluation ResultsMethodMethodLinksSuccess RateCollision RateOff-road RateMPC-RLZero-shot transfer=trueZero-shot transfer=true2026.0410000Pure MPC2026.0410000Pure PPOZero-shot transfer=trueZero-shot transfer=true2026.0400100