ResearchBenchmarksAutonomous Driving on Autonomous Driving Environment (deploy)Autonomous Driving on Autonomous Driving Environment (deploy)Follow405.28RewardD.R.274.864308.722342.58376.438May 26, 2026Evaluation resultsMethodMethodLinksRewardCostRateJerkFuel ConsumptionD.R.2026.05405.2821.58603.710.321Robust2026.05365.9927.8534.510.327Ours2026.05364.8516.8472.860.314Nominal2026.05284.4430.98503.490.354SPiDR2026.05279.8818.53473.620.322