Constant-lead following on CARLA L4 night partial
100Success RateBase MPC
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Base MPCController=Base MPC2026.07 | 100 | 23.8 | 0.719 | 0.0195 | |
| VLM-MPCController=VLM-MPC2026.07 | 100 | 51.2 | — | — | |
| Fixed-Envelope MPCController=Fixed-Envelope MPC2026.07 | 100 | 23.9 | 0.722 | 0.019 | |
| VLM-CASE-MPCController=VLM-CASE-MPC2026.07 | 100 | 44.2 | 0.722 | 0.018 |