ResearchBenchmarksMulti-Objective Autonomous Driving on CARLA Traffic Density 0.75Follow0.006Safety DeviationPr-IQN*0.005760.007380.0090.01062Mar 6, 2026Evaluation ResultsMethodMethodLinksSafety DeviationSafety Change (%)Risk DeviationRisk Reduction (%)Lane Keeping DeviationLane Keeping Improvement (%)Pr-IQN*2026.030.00651.50.08736.40.0836.2Ensemble2026.030.0117.20.16822.80.1112.6IQN2026.030.012—0.137—0.126—