Before revision:  The extensive evaluation results show that our model can safely navigate the vehicle in a large variety of urban, rural, and highway areas with dense traffic while obeying traffic rules . Specifically, more than 7, 500 km of closed-loop driving evaluation is conducted in dynamic simulation environments , in which our method can handle complex driving situations, and achieve higher success rates (73.5\%-83.2\%) and driving scores than the baselines .
After revision:  The extensive evaluation results show that our model can safely navigate the vehicle in a large variety of urban, rural, and highway areas with dense traffic while obeying traffic rules . Specifically, more than 7, 500 km of closed-loop driving evaluation is conducted in dynamic simulation environments , in which our method can obey the traffic rules and safely navigate the vehicle in a large variety of urban, rural, and highway environments, including unprotected left turns, narrow roads, roundabouts, and pedestrian-rich intersections. The results also show that our method achieves better performance over the baselines in terms of success rate. This work is accompanied with some demonstration videos which are available at URL