MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systems. - Marco Coscoy; Zewei Zhou; Seth Z. Zhao; Henry Wei; Angela Magtoto; Johnson Liu; Rui Song 007; Walter Zimmer; Zhiyu Huang; Chen Tang; Bolei Zhou; Jiaqi Ma 003 (CoRR, 2026)