ResearchBenchmarksAutonomous Exploration on CARLA Town 3Follow14,267AreaVANDERER10,200.611,256.312,31213,367.7Jun 12, 2026Evaluation ResultsMethodMethodLinksAreaAPLAvg Policy FailureVANDERER2026.0614,2673.654.6NoMaD*Architecture=modified...Architecture=modified diffusion with VAE encoder2026.0612,8483.284.2NoMaD2026.0610,8273.4227.8DP-RND2026.0610,3572.638.4