Autonomous Driving on NoCrash Dense Town02
84Success RatePlanRL + Rule
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| PlanRL + RuleKinematic feasibility check=true, Emergency brake rule=true2026.06 | 84 | 90 | 91 | 95 | 0 | 0 | 0.36 | 0.13 | 0.67 | |
| PlanRLKinematic feasibility check=true, Emergency brake rule=false2026.06 | 80 | 88 | 95 | 91 | 0 | 0 | 0.58 | 0.08 | 0.95 | |
| AutopilotEmergency brake rule=false2026.06 | 79 | 67 | 85 | 74 | 0 | 0 | 0.91 | 2.7 | 1.79 | |
| Roach + RuleEmergency brake rule=true2026.06 | 77 | 82 | 81 | 88 | 0 | 0 | 0.43 | 0.72 | 1.18 | |
| PlanRL w/o KFKinematic feasibility check=false, Emergency brake rule=false2026.06 | 76 | 87 | 87 | 93 | 0 | 0 | 0.5 | 0.17 | 0.86 | |
| RoachEmergency brake rule=false2026.06 | 65 | 80 | 85 | 85 | 0 | 0.03 | 0.94 | 0.34 | 0.78 | |
| CaRL⋆2026.06 | 15 | 40 | 53 | 77 | 2.52 | 0.04 | 0.57 | 2.24 | 5.89 |