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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross...
Yiru Wang, Anqing Jiang, Shuo Wang, Yuwen Heng, Hai Yang, Yang C · 2026-04-30 · via cs.RO updates on arXiv.org

Open-loop evaluation offers fast, reproducible assessment of autonomous driving planners, but its ability to predict real closed-loop driving performance remains questionable. Prior work has shown that traditional open-loop metrics such as Average Displacement Error (ADE) and Final Displacement Error (FDE) exhibit no reliable correlation with closed-loop Driving Score. In this paper, we ask whether the more recent, safety-aware open-loop metrics introduced by NAVSIM~v2 can bridge this gap. By systematically cross-referencing published results from 15 state-of-the-art methods across NAVSIM (open-loop) and Bench2Drive (closed-loop), we compile a paired dataset of open-loop sub-metrics and closed-loop performance, yielding 8 methods with complete paired data. Our analysis reveals three key findings: (1) the aggregate NAVSIM PDM Score shows a strong positive but non-monotonic correlation with Bench2Drive Driving Score, with clear ranking inversions; (2) among individual NAVSIM sub-metrics, Ego Progress (EP) is the strongest single predictor of closed-loop success, substantially exceeding the safety-critical collision metric NC; (3) the safety-progress trade-off manifests differently in open-loop and closed-loop: methods that maximize safety at the expense of progress rank highly in NAVSIM but underperform in closed-loop due to timeout and slow-driving penalties. We further demonstrate that a much simpler 3-metric formula matches the predictive power of the full 5-metric PDMS at the same Spearman $ρ{=}0.90$ on our paired sample of $n{=}8$ methods, suggesting that within current state-of-the-art methods -- where TTC and Comfort approach saturation -- these two sub-metrics add little marginal information for closed-loop ranking. Additionally, we identify the snowball effect -- where small open-loop deviations compound into closed-loop failures -- as a candidate mechanism for the residual gap.