ResearchBenchmarksPreference-conditioned control on OpenCDA-MARL CARLA CooperativeFor AI assistantsMarkdownContent indexPreference-conditioned control on OpenCDA-MARL CARLA CooperativeFollow-2,072.9UtilityPCMA-17,382.116-13,407.608-9,433.1-5,458.592Jun 12, 2026Evaluation resultsMethodMethodLinksUtilitySuccess RateCollision RateThroughputPCMABackbone=PCMABackbone=PCMA2026.06-2,072.969.630.41,716SACBackbone=SACBackbone=SAC2026.06-4,776.968.631.41,692MAPPOBackbone=MAPPOBackbone=MAPPO2026.06-16,793.355.442.51,417