ResearchBenchmarksAutonomous Exploration on CARLA Town 5Follow15,525Area ExploredVANDERER13,44513,98514,52515,065Jun 12, 2026Evaluation ResultsMethodMethodLinksArea ExploredAPLPolicy Failure RateVANDERER2026.0615,5253.934.6NoMaD2026.0615,0883.8427.8NoMaD*Architecture=modified...Architecture=modified diffusion with VAE encoder2026.0614,4913.684.2DP-RND2026.0613,5253.458.4