ResearchBenchmarksAutonomous Driving Evaluation on Dolphins VRU-Accident benchmarkAutonomous Driving Evaluation on Dolphins VRU-Accident benchmarkFollow89.33GARVanilla30.226845.570960.91576.2591May 11, 2026Evaluation resultsMethodMethodLinksGARQARGSQSVanillaSafeguard=NoneSafeguard=None2026.0589.3392.3547.6910.05RFSafeguard=RFSafeguard=RF2026.0586.4991.8448.9614.02CMSafeguard=CMSafeguard=CM2026.0585.9284.7147.910.45SASafeguard=SASafeguard=SA2026.0567.1775.5552.1235.43GUARDADSafeguard=GASafeguard=GA2026.0532.541.4454.7249.7