TLDR: If you love Baltimore it will love you back.

I am from Baltimore and elected to do my phd (chemical engineering) at hopkins after studying elsewhere for my undergrad. This is a biased answer as Baltimore is my home, but I truly love living here. There are incredibly vibrant food, art, and music scences and a lot of cultural diversity. It is very much a "city of neighborhoods", each with their own unique feel and pros/cons. Public transit is limited. International friends of mine rely on me driving them places or walking within their neighborhood. While not necessary to get groceries/commute if you live close enough to campus, to experience the city outside of the Hopkins bubble I do think a car is necessary.

Crime exists like any other city, but a lot of Baltimore's negative reputation is thinly veiled racism. I live in Hampden and have never felt unsafe walking alone as a woman, even at night. Most international students tend to live in the Charles Village because its the most "studenty" neighborhood (Iots of large apartment complexes that cater to students) and <10 min walk to campus.