ResearchBenchmarksScenario Generation Diversity Evaluation on nuScenesScenario Generation Diversity Evaluation on nuScenesFollow50.5Rear (%)CCFM8.58819.46930.3541.231Jul 5, 2026Evaluation resultsMethodMethodLinksRear (%)Front (%)Side (%)ENSD (m/s)HD (°)DS†CCFM2026.0750.514.235.30.892.812.30.96CCDiff2026.0726.628.245.20.970.31.50.59STRIVE2026.0718.424.257.40.861.92.20.62SAFE-SIM2026.0710.228.661.20.810.82.40.61