ResearchBenchmarksClosed-loop Driving on Bench2Drive (test)Follow4.67Delta DSCRAFT0.41641.52072.6253.7293May 6, 2026Evaluation ResultsMethodMethodLinksDelta DSDelta RCDelta ISDelta SRCRAFTTrain dataset=Bench2DriveTrain dataset=Bench2Drive2026.054.672.480.045CRAFTTrain dataset=LEAD (To...Train dataset=LEAD (Town12 subset)2026.050.58-0.340.010.91