GETok-DSR-NAVSIM-v1

GETok-DSR: Vocabulary-Grounded Draft-Select-Refine Planning

This repository contains the frozen NAVSIM v1 submission and the minimal code needed to reproduce its candidate-aligned progressive GETok selection over an immutable ChainFlow-VLA fallback.

Method

The released ChainFlow-VLA trajectory is retained as candidate alpha 0. A route-conditioned GETok/DrivoR draft supplies alpha 1; circular heading interpolation and linear position interpolation produce alpha 0.25/0.50/0.75. A navtrain-only five-fold stability screen caps deployed support at alpha 0.50. The remaining fallback/alpha025/alpha050 candidates are each passed through the same frozen visual DrivoR scorer, and the candidate with the highest predicted composite score is returned:

fallback -> alpha025 -> alpha050 | alpha075 -> GETok draft
             deployable support  | diagnostic support
             frozen candidate-aligned DrivoR score -> argmax

The final selector retains the fallback for 1,967 of 12,146 navtest scenes and chooses alpha 0.25/0.50 for 1032/9147 scenes, respectively.

Reproduction

Install the official NAVSIM v1.1 environment and ChainFlow-VLA release first:

• NAVSIM v1.1: https://github.com/autonomousvision/navsim/tree/v1.1
• ChainFlow-VLA: https://github.com/AFARI-Research/ChainFlow-VLA

The scripts under code/ include the original GETok support construction and the current progressive-vocabulary builder and candidate-aligned submission packager. They expect the official NAVSIM v1.1 dataclasses, the released ChainFlow-VLA fallback, and DrivoR proposal-score payloads.

python code/apply_chainflow_paired_consensus.py --help
python code/build_progressive_vocabulary.py --help
python code/package_candidate_aligned_submission.py --help
python code/package_capped_direct_submission.py --help
python code/finalize_navsim_submission_metadata.py --help

The uploaded submission.pkl is the exact rank-1 official submission. Its trajectory digest and source-submission SHA-256 are recorded in artifacts/g339_official_manifest.json; the navtest score is stored in artifacts/g339_navtest_summary.json, and the navtrain-only policy search in artifacts/g338_policy_search.json. The preceding G247/G332 submissions are retained under artifacts/ for provenance.

Before publishing, verify the immutable package:

python verify_release.py

With a write-scoped Hugging Face token installed, publication is one command:

HF_ENDPOINT=https://huggingface.co python publish_hf.py

Evaluation Boundary

The local official-protocol NAVSIM score is 0.954545187187109, compared with 0.9491968721563916 for the exact released ChainFlow-VLA submission on the same 12,146-scene cache. The local score is above the public 0.953087 reference checked on 2026-09-08. The preceding uncapped G332 submission received official public PDMS 95.2814871298245. G339 received official public PDMS 95.36882969298688, ranking first and exceeding DriveZero 95.3087 by 0.06012969298687665 points. The official component scores are NOC 99.19726658982381, DAC 99.56364235139141, DDC 97.21307426313189, EP 92.51793711640666, TTC 97.29952247653549, and comfort 100.0. The evaluated immutable repository revision is 403c00322c64882ba6601669c40b52194ab57012; the structured server return is stored in artifacts/g339_official_result.json.

Authors

YuHuan, Wuhan University (WHU). Contact: [email protected].

Li Ming, Wuhan University (WHU). Contact: [email protected].

Yuanyuan Shi, Wuhan Technical University. Contact: [email protected].

ZhangPin, Wuhan University (WHU). Contact: [email protected].

The initial release namespace is minfishmovemountain. The repository may be transferred to the planned WHU-LiFish-Lab organization after it is created; the method name and frozen trajectory payload will remain unchanged.

Acknowledgements

This method uses the released ChainFlow-VLA checkpoint and submission as its strong immutable fallback. NAVSIM and ChainFlow-VLA remain governed by their respective licenses and citation requirements.