ResearchBenchmarksAgent Simulation on nuPlan (test)Agent Simulation on nuPlan (test)Follow0.847CLS-SREvoQRE0.646280.698390.75050.80261Jan 9, 2026Evaluation resultsMethodMethodLinksCLS-SREvoQREbackbone=QCNet, ego_pl...backbone=QCNet, ego_planner=PDM-Closed [21]2026.010.847GR2compute_budget=72 GPU-...compute_budget=72 GPU-hours2026.010.821CHARMS2026.010.815Safe-Sim2026.010.808CCE-MASACbackbone=QCNetbackbone=QCNet2026.010.801VBDcompute_budget=72 GPU-...compute_budget=72 GPU-hours2026.010.795SMART2026.010.782BC2026.010.654