@article{fail2drivebenchmarkingclosedloopdrivingg,
  title = {Fail2Drive: Benchmarking Closed-Loop Driving Generalization},
  author = {Simon Gerstenecker and Andreas Geiger and Katrin Renz},
  year = {2026},
  eprint = {2604.08535},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.08535},
}