ResearchBenchmarksRisk Scenario Generation on One-way scenario Left sideswipeFollow20GCR (%)CRAG0.9685.90910.8515.791Nov 27, 2025Evaluation ResultsMethodMethodLinksGCR (%)TCR (%)DKL (Δx)DKL (Δy)CRAG2025.112014.70.70.5Baseline2025.111.71.21.117.4