ResearchBenchmarksAutonomous Driving on CARLA Town 02 NormalAutonomous Driving on CARLA Town 02 NormalFollow91Route CompletionVILTA85.887.1588.589.85Jan 19, 2026Evaluation resultsMethodMethodLinksRoute CompletionTotal Distance TraveledCrash RateCollision Density (Collisions/km)Average Collision SpeedAverage SpeedVILTAAveraged over=3 random...Averaged over=3 random seeds2026.01911,884.12272.472.8320.25CATAveraged over=3 random...Averaged over=3 random seeds2026.01891,861302.471.4421.69VLM-RLAveraged over=3 random...Averaged over=3 random seeds2026.01861,746.99234.831.2721.91