ResearchBenchmarksMulti-Objective Autonomous Driving on CARLA Traffic Density 0.5Follow0.004SafetyPr-IQN*0.003840.004920.0060.00708Mar 6, 2026Evaluation ResultsMethodMethodLinksSafetySafety Change (%)RiskRisk Change (%)Lane KeepingLane Keeping Change (%)Pr-IQN*2026.030.004420.05140.90.07636.8IQN2026.030.007—0.086—0.12—Ensemble2026.030.0089.40.10420.80.1243