ResearchBenchmarksAutonomous Driving Planning on nuScenes Singapore to Boston generalizationFollow0.33L2 Error (1s)CoIRL-AD0.32520.35760.390.4224Oct 14, 2025Evaluation ResultsMethodMethodLinksL2 Error (1s)L2 Error (2s)L2 Error (3s)L2 Error (Avg.)Collision Rate (1s)Collision Rate (2s)Collision Rate (3s)Collision Rate (Avg.)Combined L2 and Collision Error (Avg.)CoIRL-AD2025.100.330.651.130.74150.46220.15LAW2025.100.450.891.460.9313431.5690.64