ResearchBenchmarksBoundary Injection on nuScenesFollow21Inc. (%)Mirage-21.64-10.570.511.57May 14, 2026Evaluation ResultsMethodMethodLinksInc. (%)Delta DetectionsORR (%)FSR (%)UPTR (%)Mirage2026.05211.88153393AdvPatch2026.05-10.063587Pixel PGD2026.05-201.82112592