Safety-critical scenario generation on SafeBench
30Collision Rate: Straight ObstacleLC
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LCego_controllers=SAC, PPO, TD3, setup=SafeBench2026.05 | 30 | 9 | 87 | 83 | 71 | 69 | 59 | 58 | 58.4 | 76.1 | 83 | 50.5 | 50.7 | 60.1 | 61.5 | 54.8 | 58.8 | 61.9 | |
| CSego_controllers=SAC, PPO, TD3, setup=SafeBench2026.05 | 45 | 61 | 89 | 87 | 63 | 69 | 68 | 60 | 67.6 | 69.8 | 56.7 | 48.9 | 49 | 64.1 | 61.3 | 50.5 | 57.9 | 57.3 | |
| ATego_controllers=SAC, PPO, TD3, setup=SafeBench2026.05 | 50 | 31 | 78 | 82 | 71 | 68 | 59 | 62 | 62.7 | 66.8 | 71.4 | 53.8 | 50.5 | 60.7 | 62 | 54.5 | 56.9 | 59.6 | |
| ASego_controllers=SAC, PPO, TD3, setup=SafeBench2026.05 | 51 | 33 | 86 | 87 | 57 | 70 | 29 | 57 | 58.6 | 67.3 | 70.7 | 50.7 | 49 | 67.5 | 60.7 | 70.5 | 59.3 | 62 | |
| SCSGego_controllers=SAC, PPO, TD3, setup=SafeBench2026.05 | 76 | 84 | 72 | 89 | 70 | 64 | 76 | 56 | 73.4 | 53.7 | 49.7 | 57 | 47.7 | 54 | 61 | 52.3 | 59.7 | 54.4 | |
| SCENGEego_controllers=SAC, PPO, TD3, setup=SafeBench2026.05 | 86 | 77 | 84 | 90 | 82 | 75 | 76 | 86 | 82 | 50.3 | 52.6 | 50.4 | 45.7 | 50.7 | 51.9 | 49.8 | 47.7 | 49.9 | |
| ChatSceneego_controllers=SAC, PPO, TD3, setup=SafeBench2026.05 | 89 | 70 | 95 | 93 | 79 | 75 | 78 | 86 | 83.1 | 47 | 52.2 | 43.4 | 44 | 53.7 | 56 | 47.4 | 42.1 | 48.2 | |
| ScenePilotego_controllers=SAC, PPO, TD3, setup=SafeBench2026.05 | 90 | 84 | 99 | 89 | 93 | 89 | 91 | 79 | 89.3 | 50.5 | 50.4 | 45.8 | 47.1 | 48.8 | 50.7 | 39.9 | 47.8 | 47.6 |