ResearchBenchmarksMotion Behavior Generation on WOMD Top-10% Safety-CriticalMotion Behavior Generation on WOMD Top-10% Safety-CriticalFollow17.12Collision RateGRBO16.8118.902520.99523.0875Dec 15, 2025Evaluation resultsMethodMethodLinksCollision RateRealism ScoreInteractivity ScoreMap Adherence ScoreKinematic ScoreGRBOStrategy=IL&RLFTStrategy=IL&RLFT2025.1217.120.72990.76460.84380.4524GRBO-E3Strategy=IL&RLFTStrategy=IL&RLFT2025.1218.260.73420.77210.84540.4541CAT-KStrategy=IL&SFTStrategy=IL&SFT2025.1224.220.74330.7760.85680.4711SMARTStrategy=ILStrategy=IL2025.1224.870.73960.77210.8530.468