ResearchBenchmarksMulti-Objective Autonomous Driving on CARLA Traffic Density 1.0Follow0.006SafetyPr-IQN*0.005560.008530.01150.01447Mar 6, 2026Evaluation ResultsMethodMethodLinksSafetySafety Change (%)RiskRisk Change (%)Lane KeepingLane Keeping Change (%)Pr-IQN*2026.030.00661.10.10436.60.09229.1Ensemble2026.030.01321.70.221.40.1115.2IQN2026.030.017—0.164—0.13—