ResearchBenchmarksAutonomous Exploration on CARLA Town 2Follow5,488AreaVANDERER3,113.683,730.094,346.54,962.91Jun 12, 2026Evaluation ResultsMethodMethodLinksAreaAPLAvg Policy FailureVANDERER2026.065,4882.794.6NoMaD2026.064,3682.2327.8NoMaD*Architecture=modified...Architecture=modified diffusion with VAE encoder2026.064,2292.144.2DP-RND2026.063,2051.638.4