ResearchBenchmarksAutonomous Driving on highway-env Lane-5 Density 3.0 (most complex)Follow70Success RateRESPOND7.623.84056.2Dec 23, 2025Evaluation ResultsMethodMethodLinksSuccess RateDeclineRESPONDmemory_layers=L1+L2memory_layers=L1+L22025.127030RESPONDmemory_layers=L1memory_layers=L12025.125035DiLu2025.123535GRADtraining_episodes=600,000training_episodes=600,0002025.121059