ResearchBenchmarksTrajectory Planning on Merge Seen EnvironmentsTrajectory Planning on Merge Seen EnvironmentsFollow0.93Average Displacement Error (ADE)C-TRAIL0.81841.57172.3253.0783Mar 31, 2026Evaluation resultsMethodMethodLinksAverage Displacement Error (ADE)Final Displacement Error (FDE)Success Rate (SR)p-valueC-TRAILLLM Backbone=GPT-4oLLM Backbone=GPT-4o2026.030.931.4287.1—C-TRAILLLM Backbone=GPT-3.5LLM Backbone=GPT-3.52026.031.271.6285.1—DiLu2026.031.833.0771.3—GPT-Dr2026.031.953.3568.2—LangMPC2026.032.043.5266.7—LMTraj2026.032.173.8962.5—GRAD2026.033.365.4728.9—MCTS2026.033.485.6126.8—DQN2026.033.725.9323.1—