ResearchBenchmarksTrajectory Planning on Intersection Seen EnvironmentsTrajectory Planning on Intersection Seen EnvironmentsFollow1.62ADEC-TRAIL1.48162.41583.354.2842Mar 31, 2026Evaluation resultsMethodMethodLinksADEFDESRp-valueC-TRAILLLM Backbone=GPT-4oLLM Backbone=GPT-4o2026.031.623.0584.2—C-TRAILLLM Backbone=GPT-3.5LLM Backbone=GPT-3.52026.031.883.7482.3—DiLu2026.032.925.0564—GPT-Dr2026.033.255.3861.3—LangMPC2026.033.415.5259.8—LMTraj2026.033.745.8956.2—GRAD2026.034.627.2324.7—MCTS2026.034.787.4822.5—DQN2026.035.087.8519.6—