AI 中文总结
本研究审计NAVSIM v2.2评分中共享回退的失效风险，发现数值不稳定性会使参考条件式容错传播参考失败，贡献含多环节的审计协议以规范防御性驾驶评分使用。
AI 中文摘要
防御性驾驶评分仅在能区分出观察周围智能体的策略与未观察的策略时才有用。重仿真基准可能采用参考条件式容错机制，即当记录的人类参考未通过合规通道时，智能体可获得相应奖励。当智能体与参考共享不稳定的回退变换时，该规则会将共享参考的失败传播为广泛的合规奖励。我们在NAVSIM v2.2原始场景单阶段评分中审计了这一风险：在经审计的数值后端上的受影响文档堆栈条件下，完全忽略路线的“Ignore-All”探测和仅忽略智能体的路线感知探测，在完整的12146 token的navtest划分中排名高于人类重放和PDM-Closed。按照公开规范进行全新安装，可在固定的32 token诊断集上复现回退分歧。同源依赖堆栈控制和精确输入诊断，在共享速度重构中分离出依赖敏感的数值行为。在450 token的控制池中，仅替换求解器即可消除回退分歧，在保持容错的同时恢复“盲最后”排序。因此，数值不稳定性是直接触发因素，参考条件式容错会将由此产生的共享参考失败传播为合规奖励。我们贡献了一项审计协议，要求在将此类评分用于防御性驾驶主张前，需披露评分依据和堆栈、进行盲探测、覆盖报告及回退稳定性测试。
英文摘要
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 and PDM-Closed over the complete 12,146-token navtest split. A fresh installation following the public specification reproduces rollout divergence on a fixed 32-token diagnostic set. A same-source dependency stack control and an exact-input diagnostic isolate dependency-sensitive numerical behavior in the shared velocity refit. On a 450-token control pool, replacing only the solver eliminates rollout divergence and restores blind-last ordering while keeping forgiveness enabled. Thus, the numerical instability is the direct trigger. Reference-conditioned forgiveness propagates the resulting shared reference failures into compliance credit. We contribute an audit protocol requiring score basis and stack disclosure, blind probes, overwrite reporting, and rollout stability tests before using such scores for defensive driving claims.
Comments17 pages, 1 figure
