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 a high-fidelity driving simulator , in which our method can handle complex driving situations, and achieve higher success rates (73.5\%-83.2\%) and driving scores than the baselines .