ResearchBenchmarksAutonomous Driving Planning on rounD Real-worldFollow1.78Inference Time (s)LMTraj1.10645.653210.214.7468Mar 31, 2026Evaluation ResultsMethodMethodLinksInference Time (s)Memory Usage (MB)LLM API Call Time (s)MCTS Planning Time (s)Trust Update Time (s)LMTrajMode=fine-tunedMode=fine-tuned2026.031.78298———LangMPC2026.0313.58515———GPT-Dr2026.0318.02609———DiLu2026.0318.05670———C-TRAILBackbone=GPT-4o, MCTS...Backbone=GPT-4o, MCTS Simulations (K)=502026.0318.6256313.853.950.82