ResearchBenchmarksSafe Reinforcement Learning on SMARTS Intersection 512K stepsFollow739Unsafe Event CountCAL569.81,711.92,8543,996.1Mar 25, 2026Evaluation ResultsMethodMethodLinksUnsafe Event CountCAL2026.03739COX-Q2026.031,123SACLag2026.031,755TQC-ORAC2026.033,589CPPOPID2026.034,969