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Planning Audit on nuScenes mini (val)
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4.6
Per-Agent Influence
SparseDrive
0.336
1.443
2.55
3.657
Jun 12, 2026
Per-Agent Influence
Causal/Spurious Influence Ratio
Max Spurious Agent Influence per Frame
Flagged Agents per Frame
CSI
Open-Loop L2 Error
TCM Plan Shift
Updated 1mo ago
Evaluation Results
Method
Method
Links
Per-Agent Influence
Causal/Spurious Influence Ratio
Max Spurious Agent Influence per Frame
Flagged Agents per Frame
CSI
Open-Loop L2 Error
TCM Plan Shift
SparseDrive
Planner model=SparseDr...
2026.06
4.6
-
-
-
-
-
-
SparseDrive
Planner model=SparseDr...
2026.06
0.5
-
-
-
-
-
-
SparseDrive
Planner model=SparseDrive
2026.06
-
9.46
4.8
-
0.884
1.9
-
PCR
Planner model=SparseDr...
2026.06
-
-
-
1.79
-
-
-
Influence-only
Planner model=SparseDr...
2026.06
-
-
-
2.48
-
-
-
TCM
Planner model=SparseDrive
2026.06
-
-
-
-
-
-
5.7
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