ResearchBenchmarksBoundary Removal on nuScenesFollow19.2Drop Rate (%)AdvPatch17.08831.34445.659.856May 14, 2026Evaluation ResultsMethodMethodLinksDrop Rate (%)Change in Detection Metric (Δdet)ORR (%)FSR (%)UPTR (%)AdvPatch2026.0519.2-1.6392095Mirage2026.0557.7-4.7523396Pixel PGD2026.0572-5.9553495