CARVE: Certified Affordable Repair of Vetoed Maneuvers via Envelopes for Interactive Driving
Interactive driving exposes a failure mode that is easy to miss in rule-aware autonomous-driving stacks: a hard-rule margin can be negative for an ego candidate even though a small lawful accommodation by a non-priority agent would restore feasibility. Existing rulebooks, shields, and reachability filters are strong at vetoing unsafe actions, while prediction-based planners model likely responses. Neither returns a runtime proof object that states which bounded multi-agent edit repairs the maneuver, who owns the edit, whether the request is right-of-way affordable, and what ego fallback remains if the request is not observed. We formulate this missing object as *interactive repair certifi...
| Authors | Yifan Wang |
|---|---|
| Primary category | cs.RO |
| Published | 31 May 2026 |
| Last updated at source | 31 May 2026 |
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