ResearchBenchmarksPlanning on Bench2Drive LT (val)Planning on Bench2Drive LT (val)Follow0.5L2 Distance (1s)FUMP0.4980.51150.5250.5385Apr 17, 2025Evaluation resultsMethodMethodLinksL2 Distance (1s)L2 Distance (2s)L2 Distance (3s)L2 Distance (Avg)Collision Rate (1s)Collision Rate (2s)Collision Rate (3s)Collision Rate (Avg)FUMP2025.040.50.781.330.870000VAD2025.040.550.931.460.980000