ResearchBenchmarksDecision-making on NuScenes-SDecision-making on NuScenes-SFollow39Decision Score (Dec)FastDrive27.5630.5333.536.47Jun 5, 2025Evaluation resultsMethodMethodLinksDecision Score (Dec)Decision Score (s)Lateral Error (Lat)Longitudinal Error (Lon)FastDriveNumber of tokens=256Number of tokens=2562025.0639630.760.46FastDriveNumber of tokens=64Number of tokens=642025.0638630.740.45DriveLM2025.0628590.720.35