ResearchBenchmarksAutonomous Driving on CARLA Town 02 ChallengingFollow77Route CompletionVILTA57.2462.3767.572.63Jan 19, 2026Evaluation ResultsMethodMethodLinksRoute CompletionTotal DistanceCrash RateCollisions/kmCollision SpeedAvg SpeedVILTAAveraged over=3 random...Averaged over=3 random seeds2026.01771,588.915018.133.6320.13VLM-RLAveraged over=3 random...Averaged over=3 random seeds2026.01681,441.665718.864.8718.96CATAveraged over=3 random...Averaged over=3 random seeds2026.01581,076.817322.446.6121.87