ResearchBenchmarksBehavior-Trajectory Alignment on WOD-E2E (val)Behavior-Trajectory Alignment on WOD-E2E (val)Follow44.2Longitudinal ErrorOpenEMMA42.99251.14659.367.454Dec 4, 2025Evaluation resultsMethodMethodLinksLongitudinal ErrorLateral ErrorAverage ErrorOpenEMMADecoding Strategy=AR,...Decoding Strategy=AR, Backbone=InternVL3.52025.1244.239.641.9VLM-ADDecoding Strategy=AR,...Decoding Strategy=AR, Backbone=LLaVA-OV2025.1259.785.972.8LightEMMADecoding Strategy=AR,...Decoding Strategy=AR, Backbone=Qwen3-VL2025.1271.371.671.5dVLM-ADDecoding Strategy=Diff...Decoding Strategy=Diff., Backbone=LLaDA-V2025.1274.485.780.1