ResearchBenchmarksDriving Planning Evaluation on WOD-E2E (val)Driving Planning Evaluation on WOD-E2E (val)Follow7.633RFSdVLM-AD5.0595.727256.39557.06375Dec 4, 2025Evaluation resultsMethodMethodLinksRFSCollision RatedVLM-ADDecoding Strategy=Diff...Decoding Strategy=Diff., Backbone=LLaDA-V2025.127.633—VLM-ADDecoding Strategy=AR,...Decoding Strategy=AR, Backbone=LLaVA-OV2025.127.215—LightEMMADecoding Strategy=AR,...Decoding Strategy=AR, Backbone=Qwen3-VL2025.126.517—OpenEMMADecoding Strategy=AR,...Decoding Strategy=AR, Backbone=InternVL3.52025.125.158—