ResearchBenchmarksMulti-agent Navigation on Intersection environment 30 initialized agentsMulti-agent Navigation on Intersection environment 30 initialized agentsFollow88.78Success RateCOIN64.75670.99377.2383.467Mar 26, 2026Evaluation resultsMethodMethodLinksSuccess RateOff-Road RateCollision RateEfficiencySafety ScoreAvg Travel StepsCOIN2026.0388.784.133.9468.64-6.73509.6CoPO2026.0375.25.8616.3549.2-19.59567.22TraCo2026.0373.087.5219.2157.06-32.86482.16ITD32026.0372.665.6121.8259.58-36.98469.18IPPO2026.0369.968.011842.7-22.87588.59MFPO2026.0369.957.4119.0844.73-23.76579.62CPPO2026.0365.688.5924.3938.01-35.07570.42