RECTOR: Priority-Aware Rule-Based Reranking for Compliance-Aware Autonomous Driving Trajectory Selection

• URL: http://arxiv.org/abs/2605.25095v1
• Date: Sun, 24 May 2026 14:17:00 GMT
• Title: RECTOR: Priority-Aware Rule-Based Reranking for Compliance-Aware Autonomous Driving Trajectory Selection
• Abstract summary: We present textscRECTOR (Rule-Enforced Constrained Trajectory Orchestrator)<n>It scores candidates against a tiered rulebook via differentiable proxies and a scene-conditioned applicability mechanism.<n>It selects with a deterministic $varepsilon$-lexicographic rule that preserves cross-tier priority -- without retraining the predictor.
• Score: 0.8363171780853939
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: 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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