Note: From bottom to top, the constraint is stronger; From left to right, the risk is higher.

Argoverse 2 Y-Junction Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Argoverse 2 Dense Intersection Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Argoverse 2 Roundabout Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Argoverse 2 Dual Intersection Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Argoverse 2 T-Junction Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Argoverse 2 Merge Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Waymo Motion Merge Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Waymo Motion Dual Intersection Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Waymo Motion T-Junction Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Waymo Motion Dense Intersection Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Waymo Motion Roundabout Scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Waymo Motion Y-Junction scenario

2D Visualization (third-person perspective)

3D Visualization (first-person perspective)

Generalization (third-person perspective)