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Notes on navsim
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When Shared Rollouts Fail in Defensive Driving Evaluation: A NAVSIM Score Basis Audit
The study identifies a risk in NAVSIM v2.2 original scene single-stage scoring where reference-conditioned forgiveness can propagate shared reference failures into compliance credit, potentially leading to incorrect…
When Shared Rollouts Fail in Defensive Driving Evaluation: A NAVSIM Score Basis Audit
The paper discusses a flaw in the NAVSIM v2.2 defensive driving evaluation system where shared rollouts can lead to misleading compliance credit. This issue is demonstrated through a series of experiments and is…
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