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Comfortably Stuck: Evaluation Pitfalls in Bench2Drive's Closed-Loop Protocol
Closed-loop evaluation is widely regarded as a more faithful way to assess end-to-end (E2E) driving models than open-loop evaluation, and Bench2Drive, built on the CARLA simulator, has become the dominant benchmark for it. We show that its evaluation protocol itself contains pitfalls that can misrep
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