Adversarial Scenario Generation on nuScenes
88.7FSM%CARS
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| CARSSetting=Adversarial methods on nuScenes2026.05 | 88.7 | 79.7 | 97.1 | 0.798 | 22.5 | 0.04 | |
| One-component diffusion plannerSetting=ADS-planner robustness, Adversarial policy=fixed CARS adv2026.05 | 87.8 | 80 | 96.7 | 0.834 | 21.7 | 0.04 | |
| CTG plannerSetting=ADS-planner robustness, Adversarial policy=fixed CARS adv2026.05 | 86 | 80 | 92.4 | 0.745 | 29.2 | 0.02 | |
| CARSSetting=Adversarial methods on nuScenes, K=1 adv2026.05 | 45.2 | 35.5 | 53.2 | 0.797 | 66.1 | 27.4 | |
| SafeSimSetting=Adversarial methods on nuScenes2026.05 | 44.8 | 44.8 | 44.8 | 0.628 | 48.3 | 12.94 | |
| Bezier-CATSetting=Adversarial methods on nuScenes2026.05 | 21.1 | 36.4 | 15 | 0.26 | 84.1 | 73.08 | |
| STRIVESetting=Adversarial methods on nuScenes2026.05 | 7.3 | 5.8 | 6.1 | 0.528 | 53.8 | 36.39 |