ResearchBenchmarksAutonomous Racing on Unseen Racing Track five recorded lapsFollow39.5Avg TTF (s)Res-MLP39.45639.75340.0540.347Jan 17, 2026Evaluation ResultsMethodMethodLinksAvg TTF (s)Avg CollisionsAvg Angular Velocity (rad/s)Res-MLP2026.0139.51.20.0168AttNP2026.0140.10.80.0056FTGmode=Expertmode=Expert2026.0140.30.40.0103PI-AttNP2026.0140.40.40.0043PI-AttNPsafety_filter=CBFsafety_filter=CBF2026.0140.60.20.0096