What Probing Reveals about Autonomous Driving: Linking Internal Prediction Errors to Ego Planning

arXiv:2606.31106v1 Announce Type: new Abstract: Large-scale datasets and fast simulators have enabled improvements in driving policies that appear safe and robust, yet strong performance in nominal scenarios can still mask flawed reasoning and unsafe heuristics. Summary scores from closed-loop simulators do not give significant insight into the policy, making it difficult to determine whether they truly predict the motion of surrounding vehicles, how the ego vehicle generates future plans, or wh...