Critical Scenario Generation on SafeBench Scenario 6 (Unprotected Left-turn)
0Collision Rate (CR)KING
Evaluation results
| Method | Links | ||
|---|---|---|---|
| KINGEgo Stack=AIM-BEV2026.05 | 0 | 95.3 | |
| KINGEgo Stack=TransFuser2026.05 | 4 | 93.9 | |
| KINGEgo Stack=Autopilot2026.05 | 9 | 90.9 | |
| ScenePilotEgo Stack=Autopilot2026.05 | 11 | 89.5 | |
| ScenePilotEgo Stack=AIM-BEV2026.05 | 15 | 87.1 | |
| ScenePilotEgo Stack=TransFuser2026.05 | 16 | 87.9 | |
| KINGEgo Stack=TD32026.05 | 20 | 85.8 | |
| KINGEgo Stack=Avg2026.05 | 38 | 76.6 | |
| ScenePilotEgo Stack=Avg2026.05 | 49 | 70.8 | |
| ScenePilotEgo Stack=TD32026.05 | 57 | 66.5 | |
| KINGEgo Stack=SAC2026.05 | 60 | 65.4 | |
| KINGEgo Stack=BehaviorAgent2026.05 | 77 | 57.7 | |
| ScenePilotEgo Stack=BehaviorAgent2026.05 | 77 | 57 | |
| ScenePilotEgo Stack=SAC2026.05 | 79 | 56 | |
| ScenePilotEgo Stack=PPO2026.05 | 88 | 51.6 | |
| KINGEgo Stack=PPO2026.05 | 96 | 47.5 |