ResearchBenchmarksAutonomous Driving on Bench2Drive closed-loopAutonomous Driving on Bench2Drive closed-loopFollow3,136Success RateWoTE-125.44721.281,5682,414.72Apr 2, 2025Evaluation resultsMethodMethodLinksSuccess RateDriving ScoreWoTETraj. Eval.=Model-basedTraj. Eval.=Model-based2025.043,13661.71TCP2025.043,00059.9UniADTraj. Eval.=Rule-basedTraj. Eval.=Rule-based2025.041,63645.81VADTraj. Eval.=Rule-basedTraj. Eval.=Rule-based2025.041,50042.35AD-MLP2025.04018.05