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Such causal confusion silently compromises reliability in long-tail scenarios, and it is difficult to detect, because prevailing open-loop metrics (L2 displacement and collision rate) are dominated by ego status and do not indicate whether a planner depends on spurious cues. Existing remedies based on causal-intervention training require retraining large models and cannot audit a planner that is already deployed. We present CADET, a training-free framework that audits, benchmarks, and repairs spurious reliance in pretrained E2E planners without any parameter update.","title":"CADET: Physics-Grounded Causal Auditing and Training-Free Deconfounding of End-to-End Driving Planners","url":"https://arxiv.org/abs/2606.14438","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.14438v1 Announce Type: cross \nAbstract: End-to-end (E2E) autonomous-driving planners trained by imitation are prone to statistical shortcuts: they associate scene elements that merely co-occur with expert actions (a roadside object, a building facade) with driving decisions, rather than the variables that causally determine them. Such causal confusion silently compromises reliability in long-tail scenarios, and it is difficult to detect, because prevailing open-loop metrics (L2 displacement and collision rate) are dominated by ego status and do not indicate whether a planner depends on spurious cues. Existing remedies based on causal-intervention training require retraining large models and cannot audit a planner that is already deployed. We present CADET, a training-free framework that audits, benchmarks, and repairs spurious reliance in pretrained E2E planners without any parameter update.","title":"CADET: Physics-Grounded Causal Auditing and Training-Free Deconfounding of End-to-End Driving Planners","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-15T04:43:09Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.14438"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:ad1c8ab39d378dc10235070b42bc1fe9cd6e57a3150ba396e6e50832d4d68599ac9ac7c44422f099df51f3cbc0617e7281dc278a84276d505104c0adace48d09","signer":"crovia.substrate","subject":{"observed_at":"2026-06-15T04:43:09Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.14438"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"ca3b1ce34b0e222f4b85b7a0ad62adf1b00c8f3a1d61db075733f54824007b5a","leaf_index":230046,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"b17c1c41a25a66264ee8d575d462a50c46cdccde4b775ce041e3f5a007b2c6fc","side":"right"},{"sibling":"f7ee08845f45609a82639c792558b406ecb4132f6801fd4435d60fa713565d44","side":"left"},{"sibling":"a8a7092f75722d1f74cbfa1bc563783077d8713d3ae10acfd7591adaf834fcfc","side":"left"},{"sibling":"d3662b1ea3bf4a1f88547152c9925ae198ea04297b5492bd8aae7871675a5d37","side":"left"},{"sibling":"1c6a287113917d2f4947c7d67682be2955ecff0819c71ae726b1d6951470264d","side":"left"},{"sibling":"6c5bbb65fba0725644d92ff8602c766eb385048966cf278afbefd01d4d7bf36c","side":"right"},{"sibling":"e3b34c889f00d74fe264ac613d3a8396f8c735b6c207dd15c9b4a24a5e511f22","side":"right"},{"sibling":"4facde6857295772880043256429f729859e11968ea6221d9fa688e71b3a2184","side":"left"},{"sibling":"14c50c43949e1ad41f149ffea691627d3f715c5861766c693b9fbac9d03b0d90","side":"right"},{"sibling":"74897e850164dddc689c3c65b33f9bae0268ab0bf429867a4e193d9b9b685040","side":"left"},{"sibling":"bde25d7e94e64717e426a97f6fcb4907e92b5c61fc89d92d7e0947a2249c3f6b","side":"right"},{"sibling":"d10d772a4984cae00e65ab24af21d1d260e475bbaae3f17871859eb705bd3999","side":"right"},{"sibling":"e79159853f2f35ddae8e3247d515e433c534277b287d65bbd77ae989aa4992fa","side":"right"},{"sibling":"3054319f1840cce0eaaf0bc4b1ae38e5bf8b6210927d924a750775cc7d77cca6","side":"right"},{"sibling":"0fd8b5059f279c4a4a6688de2472fdbc25543fee183df19b21dacca880354cff","side":"right"},{"sibling":"a04392fb9f2a3a620840e3b3fecd93d12e6d224e481c162389d8ae64e7194599","side":"left"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":232015,"merkle_root":"62bfb7809bb55667ad7eeebdb48267b9b2c1ee89bb808ea1e6d3a814a15aa402","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260617T133701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-17T13:39:59Z","sig_algorithm":"ed25519","signature":"930a3563c643cc7518d048b12a1f5392a96a5edce49533ba0a56f11b6cc69319bb1c800aacc46b52a6941c4d05dae255a45cac757d6093c971b96852c24f140e","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_8bf5d551d69175911cf37155dcded44d7b607a8cf1e5ba5ac50961e3fb362639"}}