When the Score Becomes the Target: Rethinking Metric Validity in Autonomous Driving

arXiv:2609.34440 · cs.CV, cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Terminology

• Benchmark — 10× in this paper · explained in 2 episodes
• Aggregation — 9× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Distillation — 3× in this paper · explained in 2 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Predictive Driver Model Score — 2× in this paper
• Actor — 1× in this paper · explained in 3 episodes
• Elias — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles
• Pseudo-Simulation for Autonomous Driving
• Parting with Misconceptions about Learning-based Vehicle Motion Planning
• NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking
• Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Driving
• Goodhart's Law in Reinforcement Learning
• World Engine: Towards the Era of Post-Training for Autonomous Driving
• ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving
• Generalized Trajectory Scoring for End-to-end Multimodal Planning
• DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving
• Categorizing Variants of Goodhart's Law
• NoRD: A Data-Efficient Vision-Language-Action Model that Drives without Reasoning
• Plan-R1: Safe and Feasible Trajectory Planning as Language Modeling
• Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive
• Test-Time Trajectory Optimization for Autonomous Driving
• Rethinking the Open-Loop Evaluation of End-to-End Autonomous Driving in nuScenes
• HUGSIM: A Real-Time, Photo-Realistic and Closed-Loop Simulator for Autonomous Driving
• DiffusionDriveV2: Reinforcement Learning-Constrained Truncated Diffusion Modeling in End-to-End Autonomous Driving

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