ResearchBenchmarksAdversarial Trajectory Generation on nuScenes short-term (1-4s)Follow0.288ADECounterScene0.2740.36850.4630.5575Mar 22, 2026Evaluation ResultsMethodMethodLinksADEFDEOverall Rate (ORR)Headway Rate (HBR)Collision Rate (CR)CounterScene2026.030.2880.703501.63.3CCDiff2026.030.380.908401.51.3STRIVE2026.030.5021.171300.11.3CTG2026.030.5261.182201.70CTG++2026.030.5481.259201.30.8VAE2026.030.6381.458400.41.3