ResearchBenchmarksAutonomous Driving on highway-env Lane-4 Density 2.0 (standard setting)Follow100Success Rate (SR)RESPOND67.7676.1384.592.87Dec 23, 2025Evaluation ResultsMethodMethodLinksSuccess Rate (SR)RESPONDmemory_layers=L1+L2memory_layers=L1+L22025.12100RESPONDmemory_layers=L1memory_layers=L12025.1285RESPONDmode=Sporty, human_fee...mode=Sporty, human_feedback_steps=202025.1280DiLu2025.1270GRADtraining_episodes=600,000training_episodes=600,0002025.1269