ResearchBenchmarksAutonomous Driving Planning on Roundab. SimulatedFollow1.73Inference Time (s)LMTraj1.05925.587110.11514.6429Mar 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-tuned2026.031.73295———LangMPC2026.0313.42510———DiLu2026.0317.81662———GPT-Dr2026.0317.83602———C-TRAILBackbone=GPT-4o, MCTS...Backbone=GPT-4o, MCTS Simulations (K)=502026.0318.556013.783.90.82