ResearchBenchmarksSafe Reinforcement Learning on SMARTS T-junction 512K stepsFollow1,675Unsafe EventsCAL1,521.482,557.743,5944,630.26Mar 25, 2026Evaluation ResultsMethodMethodLinksUnsafe EventsCAL2026.031,675COX-Q2026.031,794SACLag2026.031,965TQC-ORAC2026.033,837CPPOPID2026.035,513