ResearchBenchmarksAutonomous Exploration on CARLA Town 4Follow17,125Explored AreaVANDERER15,078.2815,609.6416,14116,672.36Jun 12, 2026Evaluation ResultsMethodMethodLinksExplored AreaAPLAvg Policy Failure RateVANDERER2026.0617,1254.364.6NoMaD*Architecture=modified...Architecture=modified diffusion with VAE encoder2026.0616,4594.194.2DP-RND2026.0615,3013.98.4NoMaD2026.0615,1573.8727.8