ResearchBenchmarksAutonomous Driving Planning on WOD-E2E (val151)Follow72QualityVMA66.868.1569.570.85Jun 15, 2026Evaluation ResultsMethodMethodLinksQualityNavigation Success RateCollision Avoidance RateLong-term Prediction ScorePrioritization ScoreLateral Control ScoreADE (Average Displacement Error)NATRVMA2026.06721008410093972.4647RAP2026.067199919988982.6249Poutine2026.066799839990972.4435