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Preprint Aug 2026

When Shared Rollouts Fail in Defensive Driving Evaluation: A NAVSIM Score Basis Audit

An audit protocol is contributed requiring score basis and stack disclosure, blind probes, overwrite reporting, and rollout stability tests before using such scores for defensive driving claims, and propagating the resulting shared reference failures into compliance credit is added.

Ziang Wei, Min-Jun Yu, Zheyuan Lai et al. · 1 citation

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