ResearchBenchmarksHandover on Real worldFollow87Success RateDiffusion-SAFE82.6584.8258789.175May 15, 2025Evaluation ResultsMethodMethodLinksSuccess RateOff-Road RateCollision RateJerk MagnitudeFidelity ErrorDiffusion-SAFEenvironment=real-world...environment=real-world platform2025.0587580.10.31