ResearchBenchmarksAdversarial Trajectory Generation on nuScenes mid-term (5-7s)Follow0.982ADECounterScene0.94581.190151.43451.67885Mar 22, 2026Evaluation ResultsMethodMethodLinksADEFDEORRHBRCRCounterScene2026.030.9822.6391.3214.7CCDiff2026.031.1282.9141.31.58.7CTG2026.031.5533.7680.31.52.3STRIVE2026.031.5654.0180.50.17.7CTG++2026.031.734.4160.31.22.3VAE2026.031.8874.550.60.27.7