ResearchBenchmarksNavigation Task 2 on CARLA Town01Navigation Task 2 on CARLA Town01Follow144.58Average Time (s)ALVO142.7872154.8886166.99179.0914Dec 30, 2025Evaluation resultsMethodMethodLinksAverage Time (s)Success Rate (SR)Average Lane Violation (ALV)Average Angular Velocity (AAV)Path Smoothness (PS)ALVO2025.12144.58—1.780.290.184DRL-TH2025.12149.54—1.720.280.074MMRL2025.12168.39—1.530.320.108RGL2025.12189.4—1.360.450.231