用规则优先的重排序机制，让自动驾驶轨迹选择更安全合规。
RECTOR: Priority-Aware Rule-Based Reranking for Compliance-Aware Autonomous Driving Trajectory Selection
- 基于安全、法律、道路、舒适四层规则，用可微代理评分候选轨迹
- 规则感知选择使违规率从28.58%降至20.42%，总违规率从40.32%降至32.41%
- 无需重训练模型，对扰动鲁棒，适合高安全要求的自动驾驶系统
自动驾驶系统需从多模态候选轨迹中选一条；仅依赖模型置信度会忽略安全、交通法规和舒适性约束。本文提出RECTOR（规则约束轨迹协调器），一个后生成阶段的重排序层，通过可微代理和场景相关适用性机制，按安全＞法律＞道路＞舒适的优先级对候选轨迹评分，并采用确定性的ε-字典序规则选择，保持跨层级优先级。在Waymo Open Motion Dataset的validation_interactive数据集上（43,219个增强样本，K=6），在协议B下（28条规则代理库，理想适用性），规则感知选择将安全+法律违规率从28.58%降至20.42%，总违规率从40.32%降至32.41%。加权求和基线虽能匹配二元合规性，但性能提升源于规则感知排序，而字典序保障是结构优势，无法通过权重校准复制。在对抗性置信度污染下，置信度选择在100%场景失败，而规则感知选择均拒绝对抗模式约96%。所有结果为代理评估（非安全认证），开环，5秒时域，美国规则，验证集。
原文摘要 · Abstract (English)
Autonomous driving stacks must pick one trajectory from a multi-modal candidate set; choosing by model confidence ignores safety, traffic-law, and comfort constraints. We present \textsc{RECTOR} (Rule-Enforced Constrained Trajectory Orchestrator), a post-generation reranking layer that scores candidates against a tiered rulebook (Safety~$\succ$~Legal~$\succ$~Road~$\succ$~Comfort) via differentiable proxies and a scene-conditioned applicability mechanism, then selects with a deterministic $\varepsilon$-lexicographic rule that preserves cross-tier priority by construction -- without retraining the predictor. On the Waymo Open Motion Dataset \texttt{validation\_interactive} split (43{,}219 augmented instances, $K{=}6$), under Protocol~B (28-rule proxy catalog, oracle applicability) rule-aware selection cuts Safety+Legal violations from 28.58\% to 20.42\% and Total from 40.32\% to 32.41\% versus confidence-only on the same candidates. A uniform-weight weighted-sum baseline matches binary compliance on this benchmark -- the empirical lift comes from rule-aware ranking, while the lexicographic guarantee is the structural differentiator no weight calibration can replicate. Under adversarial confidence corruption, confidence-only selection fails in 100\% of scenarios while both rule-aware selectors reject the injected mode in $\sim$96\%. All figures are proxy-evaluator results (not a safety certificate), open-loop, 5\,s horizon, U.S.\ rules, validation split.
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