ResearchBenchmarksCritical Scenario Attribution on CARLAFollow61CTRNeSy-CSA46.9650.60554.2557.895Jul 4, 2026Evaluation ResultsMethodMethodLinksCTRRIRNeSy-CSA2026.076179.33LLM+CoT2026.0753.8375.67LLM+Tool2026.075077LLM-only2026.0747.575.33