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When the human reference scores zero on a metric, the released GTRS-Dense label generator for NAVSIM marks every candidate trajectory in the scene as passing it, and the consequences for supervision are measured.
Constrained-option scoring reads a model's probabilities for a fixed set of permitted answers, so it returns a score even when the model is about to write something else. We study a prompt that quotes a multiple-choice item, ending in the item's own answer instruction, and asks for a forecast of whether a reader model...
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