From Proxy Learning to Driving Decisions: A Transfer-Based Framework for Evaluating Future-Aware Autonomous Driving Planners

arXiv:2609.02688v1 Announce Type: new Abstract: Future-aware representations and world models are increasingly used in proposal-based autonomous-driving planners to improve trajectory selection. However, improvements in proxy objectives or restricted subsets are often interpreted as planning gains without verifying proposal ordering, selected trajectories, full-scale utility, and critical driving components. We propose the Proxy-to-Decision Transfer (PDT) Framework, an analysis framework that evaluates when learned future information supports a reliable driving-performance improvement claim. Its Decision-Transfer Decomposition Module localizes value loss through score margins, switch-conditioned utility, and support-versus-selection regret. Its Reliability-Constrained Validation Module requires exact pairing, a minimum meaningful effect, scale-expanded confirmation, safety non-compensation, sequential comparability, and family-level robustness. On a representative future-aware planner evaluated with NAVSIM-v1, component BCE decreases from 0.705 to 0.530 while held selected PDM decreases from 0.963 to 0.961. A separate candidate improves a 512-record prefix by 0.00909, with a scene-bootstrap 95% interval of [0.000744, 0.0177], but its 2048-record and complete-support intervals include zero. A proposal-level replay further confirms the switch-utility decomposition, yet none of 432 screened configurations passes the two-half, two-seed robustness gate. PDT therefore identifies where decision transfer fails or remains indeterminate across proxy, subset, aggregate, and selection evidence.

Abstract:Future-aware representations and world models are increasingly used in proposal-based autonomous-driving planners to improve trajectory selection. However, improvements in proxy objectives or restricted subsets are often interpreted as planning gains without verifying proposal ordering, selected trajectories, full-scale utility, and critical driving components. We propose the Proxy-to-Decision Transfer (PDT) Framework, an analysis framework that evaluates when learned future information supports a reliable driving-performance improvement claim. Its Decision-Transfer Decomposition Module localizes value loss through score margins, switch-conditioned utility, and support-versus-selection regret. Its Reliability-Constrained Validation Module requires exact pairing, a minimum meaningful effect, scale-expanded confirmation, safety non-compensation, sequential comparability, and family-level robustness. On a representative future-aware planner evaluated with NAVSIM-v1, component BCE decreases from 0.705 to 0.530 while held selected PDM decreases from 0.963 to 0.961. A separate candidate improves a 512-record prefix by 0.00909, with a scene-bootstrap 95% interval of [0.000744, 0.0177], but its 2048-record and complete-support intervals include zero. A proposal-level replay further confirms the switch-utility decomposition, yet none of 432 screened configurations passes the two-half, two-seed robustness gate. PDT therefore identifies where decision transfer fails or remains indeterminate across proxy, subset, aggregate, and selection evidence.

Robotics (cs.RO)

arXiv:2609.02688 [cs.RO]

(or arXiv:2609.02688v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.02688 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

analyze_pdt_evidence.py

derived_analysis/analysis_summary.json

derived_analysis/component_deltas.csv

derived_analysis/paired_scene_deltas.csv

derived_analysis/paired_statistics.csv

derived_analysis/scale_transfer_ci.png

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server_snapshot_20260902/experiments/U18/runs/u18_v1_pdm_paired20_seed0_6bf/on/final_report.json

server_snapshot_20260902/experiments/U48/export/u48_selected_full.json

server_snapshot_20260902/experiments/U48/navtest/paired_full_v1_20260827/baseline/2026.08.27.16.54.27.csv

server_snapshot_20260902/experiments/U48/navtest/paired_full_v1_20260827/candidate/2026.08.27.16.54.08.csv

server_snapshot_20260902/experiments/U48/navtest/paired_full_v1_20260827/final_report.json

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