ResearchBenchmarksRacing on CARLAFollow74Finish RatePPO–MPPI11.627.84460.2Dec 18, 2025Evaluation ResultsMethodMethodLinksFinish RateCollision/Off-track IncidentsRewardPPO–MPPIInfluence ratio (ρ)=0.3Influence ratio (ρ)=0.32025.1274184,512.9SAC2025.1230501,177.5PPO2025.1224762,710.2PPO–MPPIInfluence ratio (ρ)=0Influence ratio (ρ)=02025.1214862,856.3