# CARVE: Certified Affordable Repair of Vetoed Maneuvers via Envelopes for Interactive Driving

Source: [CARVE: Certified Affordable Repair of Vetoed Maneuvers via Envelopes for Interactive Driving](<https://www.sota2.com/research/paper/6a210676c10484bac23eff9a>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-06-18T06:00:03.176Z

Authors: Yifan Wang

Published: 2026-05-31T12:49:01.000Z

## Abstract

Interactive driving exposes a failure mode that is easy to miss in rule-aware autonomous-driving stacks: a hard-rule margin can be negative for an ego candidate even though a small lawful accommodation by a non-priority agent would restore feasibility. Existing rulebooks, shields, and reachability filters are strong at vetoing unsafe actions, while prediction-based planners model likely responses. Neither returns a runtime proof object that states which bounded multi-agent edit repairs the maneuver, who owns the edit, whether the request is right-of-way affordable, and what ego fallback remains if the request is not observed. We formulate this missing object as \*interactive repair certification\* and introduce \*CARVE\*, a prediction-free certificate layer over a finite lattice of ego-owned and agent-owned tactical operators. Agent-owned requests are admissible only inside \\(B\_j(s) = \\beta(\\pi\_j)\\alpha\_j^{\\max}(s)\\), a cooperation envelope that separates kinematic reachability from normative priority. The resulting certificate records the binding rule, repair category, repair set, responsibility-weighted cost split, and fallback. On 589 Lanelet2-geometry-grounded INTERACTION replay episodes, CARVE-Greedy accepts 98.64% of initially vetoed maneuvers and recovers 370/378 human-resolved false vetoes, while preserving 589/589 right-of-way respect, zero priority-agent false positives, and 400/400 negative-stress vetoes. We prove certificate soundness, structural right-of-way respect, exact finite-lattice minimality, fallback contingency, and blame-consistency conditions. CARVE does not predict or require another driver's compliance; it certifies whether a proposed interaction is bounded, attributable, and normatively admissible under declared assumptions.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

- [Interactive Driving Maneuver Auditing and Repair on INTERACTION Lanelet2-geometry-grounded (589 replay episodes)](<https://www.sota2.com/research/sota/interactive-driving-maneuver-auditing-and-repair-on-interaction-lanelet2-geometry-grounded-589-replay-episodes.md>): Interactive Driving Maneuver Auditing and Repair; INTERACTION Lanelet2-geometry-grounded (589 replay episodes); Acceptance Rate: 100.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2606.02641>)

[PDF](<https://arxiv.org/pdf/2606.02641.pdf>)