Multi-agent coordination on CARLA Signal-free Urban Intersection Dense Heterogeneous Traffic
4.8Collision Rate (%)DMPS-MAPPO
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DMPS-MAPPOTraffic Scenario=Dense, Heterogeneous2026.05 | 4.8 | 2.9 | 81.6 | 14.2 | |
| AM-MAPPOTraffic Scenario=Dense, Heterogeneous, Approach=Action Masking2026.05 | 7.1 | 3.5 | 61.5 | 18.2 | |
| RS-MAPPOTraffic Scenario=Dense, Heterogeneous, Approach=Reward Shaping2026.05 | 11.2 | 6.8 | 52.3 | 14.8 | |
| Vanilla MAPPOTraffic Scenario=Dense, Heterogeneous2026.05 | 18.5 | 12.1 | 25.4 | 12.5 |