ResearchBenchmarksAgent Authority Compliance and Proximity Monitoring on PAVE Environment Scenario 2: Fire + OfficerFollow94Authority Compliance Rate (OCR)PAVE70.0876.2982.588.71May 19, 2026Evaluation ResultsMethodMethodLinksAuthority Compliance Rate (OCR)Proximity Violation Rate (Near)Proximity Violation Rate (Far)PAVEBackbone=GPT-4oBackbone=GPT-4o2026.0594565PAVEBackbone=Claude-3.5 So...Backbone=Claude-3.5 Sonnet2026.0591762PAVEBackbone=Llama-3-70BBackbone=Llama-3-70B2026.05861059PAVEBackbone=GPT-4o-miniBackbone=GPT-4o-mini2026.05711851