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Benchmarks
Safety-critical scenario generation on nuScenes
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20.8
Collision Rate (CR)
STRIVE
19.776
26.688
33.6
40.512
Jul 5, 2026
Collision 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))
Updated 19d ago
Evaluation Results
Method
Method
Links
Collision 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))
STRIVE
2026.07
20.8
11.2
15.9
27.4
5.8
6.8
14.5
SAFE-SIM
2026.07
25.8
8.7
8.1
18.7
5
4.6
11.1
CCFM
2026.07
46.4
10
12
24.9
5.4
5.9
13.3
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