ResearchBenchmarksNavigation Task 2 on CARLA Town02Navigation Task 2 on CARLA Town02Follow113.94Average Time (AT)DRL-TH112.392122.841133.29143.739Dec 30, 2025Evaluation resultsMethodMethodLinksAverage Time (AT)Success Rate (SR)Average Lateral Velocity Error (ALV)Average Angular Velocity Error (AAV)Path Smoothness (PS)DRL-TH2025.12113.94—1.760.190.069ALVO2025.12116.18—1.730.170.132MMRL2025.12130.96—1.550.240.093RGL2025.12152.64—1.320.390.241