ResearchBenchmarksAutonomous Driving on highway-env Lane-5 Density intermediate difficulty 2.5Follow80Success Rate (SR)RESPOND45.6854.5963.572.41Dec 23, 2025Evaluation ResultsMethodMethodLinksSuccess Rate (SR)RESPONDmemory_layers=L1+L2memory_layers=L1+L22025.1280RESPONDmemory_layers=L1memory_layers=L12025.1275DiLu2025.1265GRADtraining_episodes=600,000training_episodes=600,0002025.1247