ResearchBenchmarksPreference-conditioned control on OpenCDA-MARL CARLA CompetitiveFor AI assistantsMarkdownContent indexPreference-conditioned control on OpenCDA-MARL CARLA CompetitiveFollow-2,877.1UtilityPCMA-14,091.524-11,180.087-8,268.65-5,357.213Jun 12, 2026Evaluation resultsMethodMethodLinksUtilitySuccess RateCollision RateThroughputPCMABackbone=PCMABackbone=PCMA2026.06-2,877.16823.31,192SACBackbone=SACBackbone=SAC2026.06-5,084.567.932.11,674MAPPOBackbone=MAPPOBackbone=MAPPO2026.06-13,660.242.123.31,066