ResearchBenchmarksSafety-critical scenario generation on nuScenesSafety-critical scenario generation on nuScenesFollow20.8Collision Rate (CR)STRIVE19.77626.68833.640.512Jul 5, 2026Evaluation resultsMethodMethodLinksCollision Rate (CR)Advanced Outcome Rate (ADV.OR)Advanced Average Displacement Error (ADV.ADE (m))Advanced Final Displacement Error (ADV.FDE (m))Outcome Rate (OR)Average Displacement Error (ADE (m))Final Displacement Error (FDE (m))STRIVE2026.0720.811.215.927.45.86.814.5SAFE-SIM2026.0725.88.78.118.754.611.1CCFM2026.0746.4101224.95.45.913.3