When Shared Rollouts Fail in Defensive Driving Evaluation: A NAVSIM Score Basis Audit
Defensive driving scores are useful only when they preserve distinctions between policies that observe surrounding actors and those that do not. Re-simulation benchmarks may use reference-conditioned forgiveness, under which an agent receives credit when the logged human reference fails a compliance channel. When agent and reference share an unstable rollout transformation, this rule can propagate shared reference failures into broad compliance credit. We audit this risk in NAVSIM v2.2 original scene single-stage scoring. Under the affected documented-stack condition on the audited numerical backend, the route-blind Ignore-All probe and a route-aware actor-blind probe outrank human replay...
| Authors | Ziang Wei, Minjun Yu, Zheyuan Lai et al. |
|---|---|
| Primary category | cs.AI |
| Published | 5 August 2026 |
| Last updated at source | 5 August 2026 |
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