ResearchBenchmarksMotion Planning on SUMO simulator 3-Lane ConfigurationFollow17.472Average VelocityUAMP12.0941613.4903314.886516.28267Jun 8, 2026Evaluation ResultsMethodMethodLinksAverage VelocityTravel TimeJerk MetricSuccess RateUAMP2026.0617.47231.60.203100rMAPPO2026.0615.13549.40.65891MVCM2026.0614.73934.70.368100P-DRL2026.0614.50538.20.27398IPPO2026.0613.37345.40.30696MAPPO-PIS2026.0612.30155.20.20996