Corridor-conditioned risk world model reaches intrusion AP 0.8567
CorrRisk-WM self-reports intrusion AP 0.8567 and a 4.88% open-loop collision rate on 29,176 Waymo validation scenarios.
ImportanceLocalEvidenceE2 unreplicated
Readers can now know that CorrRisk-WM, a corridor-conditioned risk world model for planning proposed by Tingyu Guo and Reza Langari, self-reports intrusion AP 0.8567, first-entry 1-metre near-miss AP 0.8671, and the lowest measured open-loop collision rate of 4.88% across 29,176 scenarios drawn from 100 Waymo validation shards.
Prior risk world models lacked corridor conditioning and candidate-conditioned geometric interaction; ablations show that removing dynamic environment modelling or candidate-conditioned geometric interaction drops mean intrusion AP from 0.8590 to 0.7624 and 0.7252.
The intrusion AP 0.8567, near-miss AP 0.8671 and 4.88% open-loop collision rate are all author self-reports, not yet reproduced by third parties; the paper was submitted on 15 September, updated to v2 on the 16th, arXiv id 2609.16724.