ResearchBenchmarksRisk Scenario Generation on One-way scenario Right sideswipeFollow15GCRCRAG2.4165.6838.9512.217Nov 27, 2025Evaluation ResultsMethodMethodLinksGCRTCRDKL (Δx)DKL (Δy)CRAG2025.1115110.33.4Baseline2025.112.90.71.14.2