ResearchBenchmarksAutonomous Driving on CARLA Towns 01-03 Total NormalFollow2.7Route CompletionVILTA2.53362.57682.622.6632Jan 19, 2026Evaluation ResultsMethodMethodLinksRoute CompletionTotal DistanceCrash RateCollisions/kmCollision SpeedAverage SpeedVILTAAveraged over=3 random...Averaged over=3 random seeds2026.012.710,827.96314.437.1765.13CATAveraged over=3 random...Averaged over=3 random seeds2026.012.6410,318.29864.673.7666.98VLM-RLAveraged over=3 random...Averaged over=3 random seeds2026.012.549,966.387618.016.3568.65