ResearchBenchmarksAdversarial Trajectory Generation on nuScenes long-term (8-10s)Follow1.877ADECounterScene1.828642.155072.48152.80793Mar 22, 2026Evaluation ResultsMethodMethodLinksADEFDEOverall Rate (ORR)Headway Rate (HBR)Collision Rate (CR)CounterScene2026.031.8775.1411.91.822.7CCDiff2026.032.0925.8982.31.512.3CTG2026.032.486.1430.21.42STRIVE2026.032.7227.060.80.115.3CTG++2026.032.9637.5250.21.33.7VAE2026.033.0867.43310.213.3