ResearchBenchmarksAutonomous Exploration on CARLA Town 1Follow12,299Explored AreaVANDERER8,787.969,699.4810,61111,522.52Jun 12, 2026Evaluation ResultsMethodMethodLinksExplored AreaAPL ScorePolicy Failure RateVANDERER2026.0612,2993.124.6NoMaD2026.0611,5892.9527.8DP-RND2026.0610,8652.768.4NoMaD*Architecture=modified...Architecture=modified diffusion with VAE encoder2026.068,9232.264.2