Autonomous Driving on NoCrash Dense Town01
95Success RatePlanRL + Rule
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| PlanRL + RuleKinematic feasibility check=true, Emergency brake rule=true2026.06 | 95 | 95 | 99 | 96 | 0 | 0 | 0.05 | 0.13 | 0.04 | |
| PlanRLKinematic feasibility check=true, Emergency brake rule=false2026.06 | 92 | 95 | 100 | 95 | 0 | 0 | 0.09 | 0.12 | 0 | |
| AutopilotEmergency brake rule=false2026.06 | 91 | 81 | 92 | 84 | 0 | 0 | 0.06 | 1.29 | 0.5 | |
| Roach + RuleEmergency brake rule=true2026.06 | 88 | 92 | 92 | 93 | 0 | 0 | 0.04 | 0.29 | 0.15 | |
| PlanRL w/o KFKinematic feasibility check=false, Emergency brake rule=false2026.06 | 85 | 93 | 99 | 93 | 0 | 0 | 0.22 | 0.02 | 0.02 | |
| RoachEmergency brake rule=false2026.06 | 73 | 84 | 93 | 86 | 0.05 | 0.02 | 0.38 | 0.19 | 0.21 | |
| CaRL⋆2026.06 | 48 | 62 | 84 | 76 | 0.45 | 0.11 | 0.28 | 0.61 | 1.13 |