Preprint Open access
NavSafe-$\infty$: Benchmarking Closed-Loop Driving Safety in Photorealistic Environments
End-to-end (E2E) driving policies have advanced rapidly on open-loop (OL) benchmarks, yet OL evaluation cannot reveal whether a policy can withstand compounding errors, recover from failures, or interact safely with surrounding actors. We introduce NavSafe-$\infty$, a photorealistic closed-loop (CL) benchmark comprisin …