ResearchBenchmarksCritical Scenario Attribution on BipedalWalkerFollow87CTRNeSy-CSA70.016874.425978.83583.2441Jul 4, 2026Evaluation ResultsMethodMethodLinksCTRRIRNeSy-CSA2026.078793.5LLM+Tool2026.0780.1791.17LLM-only2026.0779.586.33LLM+CoT2026.0770.6781.83