ResearchBenchmarksTrajectory Planning on Highway Unseen EnvironmentsTrajectory Planning on Highway Unseen EnvironmentsFollow0.76ADEC-TRAIL0.63281.49142.353.2086Mar 31, 2026Evaluation resultsMethodMethodLinksADEFDESR (%)p-valueC-TRAILLLM Backbone=GPT-4oLLM Backbone=GPT-4o2026.030.760.9786.8—C-TRAILLLM Backbone=GPT-3.5LLM Backbone=GPT-3.52026.030.861.1283.8—DiLu2026.031.423.6264.1—GPT-Dr2026.031.463.6862.3—LangMPC2026.031.483.761.5—LMTraj2026.031.513.7559.2—MCTS2026.033.155.3822.3—DQN2026.033.425.7818.7—GRAD2026.033.945.0224.8—