When I said robot cars would be more efficient I meant in total energy use of the system. The peak carrying capacity of a train is obviously going to be higher, but the train can only run at full capacity a small fraction of the time, on a small fraction of the total track length of the system. Outside of a city's downtown area, and even in downtown areas during non-peak times, light rail trains run at far below peak capacity which drags down the efficiency of the whole system. If you try to increase efficiency by reducing service then you make the system less useful and ridership goes down.
Due to these realities of rail service, battery powered cars with regenerative braking will use less energy overall to transport the same people. As for gridlock problems, robot cars should be at least somewhat better at handling them than human-driven cars. They will respond more quickly allowing them to pack more closely together. Packs of them will accelerate/decelerate as a unit almost like a train. They won't commit minor traffic violations and they will get in fewer accidents than human drivers. They will have perfect knowledge of traffic conditions via wireless Internet, and so will be able to route around disruptions and collaboratively load-balance different routes. They will be able to travel on their own to find parking, so cities will remove street parking in favor of centralized garages and use the space for more lanes. Lanes may also be made narrower.
When you start thinking about all the consequences self-driving robotic cars could have, it becomes apparent that as soon as they are available they are going to displace nearly all other forms of transporation.