ResearchBenchmarksScenario Generation on nuPlan (test)Scenario Generation on nuPlan (test)Follow0.676Realism ScoreSaFeR0.5630560.5923780.62170.651022Mar 4, 2026Evaluation resultsMethodMethodLinksRealism ScoreKinematic ScoreInteraction ScoreMap Consistency ScoreSaFeR2026.030.6760.41970.75120.7257Diffusion2026.030.65970.41510.74170.6939SMART2026.030.64530.41140.7420.6546QCNet2026.030.5840.37960.6510.6146GUMP2026.030.56740.32990.63410.6173