Lane change control on Congested Merging Scenarios (100 evaluation episodes)
0.72Minimum Headway (s)MARL-HSS
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| MARL-HSSSafety Shield=HSS, Reward function=Default2026.02 | 0.72 | 21.95 | 52.75 | |
| MARL-HSS-wCRSafety Shield=HSS, Reward function=Customised2026.02 | 0.64 | 23.87 | 69.95 | |
| MARL-MASSSafety Shield=MASS, Reward function=Customised2026.02 | 0.59 | 24.71 | 83.36 | |
| MARL-MASS-wDRSafety Shield=MASS, Reward function=Default2026.02 | 0.59 | 23.23 | 69.26 | |
| MARL-CSSafety Shield=Control Shield (CS)2026.02 | 0 | 25.83 | 89.08 | |
| Unsafe MARLSafety Shield=None2026.02 | 0 | 26.26 | 76.91 |