ResearchBenchmarksLeft Turn on CARLA Town 5Left Turn on CARLA Town 5Follow67Route CompletionOurs36.8444.6752.560.33Mar 26, 2026Evaluation resultsMethodMethodLinksRoute CompletionDriving ScoreInfraction RateOurs2026.03675777RLHF2026.03634971Vanilla2026.03604568BC2026.03482962TD3-lag2026.03403268PHIL2026.03383168