Paper Citation Record · LEDGER

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive

As of 15 August 2026, this Paper Citation Record lists 32 of 32 outbound references and 2 inbound Pith citation observations for arXiv:2605.00066.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2605.00066 v1

Coverage vector

measured 32 of 32 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-05-09T20:55:26.571128Z

measured 34 of 34 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-15T06:32:42.880941+00:00

measured 2 of 2 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-06T14:11:00.387602Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: pith, observed 2026-07-09T17:56:25.537912Z

Reference resolution

32 of 32 outbound references displayed

verified exact16
verified fuzzy14
unresolved0
parse uncertain0
malformed identifier0
metadata mismatch2

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 2ebb2053-648e-454f-b5d2-963c03482f2e · outbound

This paper cites CARLA: An open urban driving simulator.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive CARLA: An open urban driving simulator

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.436412Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation f6ba2308-b224-4df6-80c2-ee95ae3dc0e7 · outbound

This paper cites Parting with Misconceptions about Learning-based Vehicle Motion Planning.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Parting with Misconceptions about Learning-based Vehicle Motion Planning

Reference 2

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.398598Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation cbdbe0f8-8c21-42b9-a349-b1725e9a45db · outbound

This paper cites Is ego status all you need for open-loop end-to-end autonomous driving? In IEEE/CVF Conference on Computer Vision and Pattern Recog- nition (CVPR).

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Is ego status all you need for open-loop end-to-end autonomous driving? In IEEE/CVF Conference on Computer Vision and Pattern Recog- nition (CVPR)

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.445338Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 097950e5-a25a-4d95-920c-c911213d4506 · outbound

This paper cites NA VSIM: Data-driven non- reactive autonomous vehicle simulation and benchmarking.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive NA VSIM: Data-driven non- reactive autonomous vehicle simulation and benchmarking

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.450994Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation df74b713-a4a6-45ef-8213-96006be186ec · outbound

This paper cites Bench2Drive: Towards multi-ability benchmarking of closed-loop end-to-end autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Bench2Drive: Towards multi-ability benchmarking of closed-loop end-to-end autonomous driving

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.439344Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 9ea3f47e-1ae6-4393-889a-41e4feffb176 · outbound

This paper cites nuScenes: A multimodal dataset for autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive nuScenes: A multimodal dataset for autonomous driving

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.413022Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation cae03e82-9111-4d83-be3f-ac0b461d32ca · outbound

This paper cites Argoverse 2: Next generation datasets for self-driving perception and fore- casting.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Argoverse 2: Next generation datasets for self-driving perception and fore- casting

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.419338Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 1b48da9b-5451-4a2b-8a5b-6de21edad530 · outbound

This paper cites Towards learning-based planning: The nuPlan benchmark for real-world autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Towards learning-based planning: The nuPlan benchmark for real-world autonomous driving

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.422168Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation deffec8b-2763-43b7-9f47-382560e34b42 · outbound

This paper cites Bench2Drive-VL: Closed-loop VLM evalua- tion for autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Bench2Drive-VL: Closed-loop VLM evalua- tion for autonomous driving

Reference 9

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.407935Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation c12b023f-8e2e-424b-bf38-802511afee73 · outbound

This paper cites Scaling Laws of Motion Forecasting and Planning -- Technical Report.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Scaling Laws of Motion Forecasting and Planning -- Technical Report

Reference 10

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.344835Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 09a9e956-d36a-44be-95bc-2a7456620390 · outbound

This paper cites Planning-oriented autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Planning-oriented autonomous driving

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.424780Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 277a68bc-1d6e-49b8-a396-70421fbfd26c · outbound

This paper cites Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation

Reference 12

Resolution: verified exact; arxiv_id, observed 2026-05-13T23:13:55.802367Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 0f289489-64cf-4da0-9af1-75bc54e986db · outbound

This paper cites DiffusionDrive: Truncated diffusion model for end-to-end au- tonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive DiffusionDrive: Truncated diffusion model for end-to-end au- tonomous driving

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.427472Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation d723d4e5-4566-4feb-9d96-b398d4f2b597 · outbound

This paper cites Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training

Reference 14

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.414828Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation b1f21033-0ddb-4151-9ad3-60ffb3133432 · outbound

This paper cites GoalFlow: Goal-driven flow matching for multimodal tra- jectories generation in end-to-end autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive GoalFlow: Goal-driven flow matching for multimodal tra- jectories generation in end-to-end autonomous driving

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.430519Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 5ef53a19-f8d5-4729-9690-2c4f46584bb1 · outbound

This paper cites Sparsedrivev2: Scoring is all you need for end-to-end autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Sparsedrivev2: Scoring is all you need for end-to-end autonomous driving

Reference 16

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.282379Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 11425bbd-f76c-4c10-ac87-986912e6e958 · outbound

This paper cites Safedrive: Fine-grained safety reasoning for end-to-end driving in a sparse world.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Safedrive: Fine-grained safety reasoning for end-to-end driving in a sparse world

Reference 17

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.376062Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 73a7b974-6a0b-4009-ba72-a6ea2cd973f8 · outbound

This paper cites DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Driving

Reference 18

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.292740Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation d6d69f5b-4d55-46d5-bbb4-c3d570f959f6 · outbound

This paper cites VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning

Reference 19

Resolution: verified exact; local_arxiv, observed 2026-05-11T14:51:14.382173Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation d7da6b43-3897-406c-9fd4-ae5ae3c1ebbb · outbound

This paper cites End-to-End Driving with Online Trajectory Evaluation via BEV World Model.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive End-to-End Driving with Online Trajectory Evaluation via BEV World Model

Reference 20

Resolution: metadata mismatch; arxiv_id, observed 2026-05-11T14:51:14.300228Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 80ff49fd-f0d6-4d67-aa28-c24f863c02b7 · outbound

This paper cites Drivesuprim: Towards precise trajectory selection for end-to-end planning.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Drivesuprim: Towards precise trajectory selection for end-to-end planning

Reference 21

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.328893Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation b4e9ace2-6e66-492d-9506-f18785eb1911 · outbound

This paper cites Trajectory-guided control prediction for end- to-end autonomous driving: A simple yet strong baseline.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Trajectory-guided control prediction for end- to-end autonomous driving: A simple yet strong baseline

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.448187Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 523f34ad-7030-41b4-bfd6-7e03e2e8a340 · outbound

This paper cites V AD: Vectorized scene representation for efficient autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive V AD: Vectorized scene representation for efficient autonomous driving

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.415903Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 1d7acf18-0fa5-4b57-9b36-78023bc3764a · outbound

This paper cites Think Twice before Driving: To- wards scalable decoders for end-to-end autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Think Twice before Driving: To- wards scalable decoders for end-to-end autonomous driving

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.442286Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation f7732e5c-6c6d-42d4-9e0b-dc05d19a1ff2 · outbound

This paper cites DriveAdapter: Breaking the coupling bar- rier of perception and planning in end-to-end autonomous driv- ing.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive DriveAdapter: Breaking the coupling bar- rier of perception and planning in end-to-end autonomous driv- ing

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T17:08:13.433233Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation db6486e2-1522-4a13-99e6-26486e1ac13b · outbound

This paper cites Bridging Past and Future: End-to-End Autonomous Driving with Historical Prediction and Planning.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Bridging Past and Future: End-to-End Autonomous Driving with Historical Prediction and Planning

Reference 26

Resolution: metadata mismatch; arxiv_id, observed 2026-05-11T14:51:14.273330Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation ec670714-fd0f-4497-afb5-6e744da5c113 · outbound

This paper cites Drivedpo: Policy learning via safety dpo for end-to-end autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Drivedpo: Policy learning via safety dpo for end-to-end autonomous driving

Reference 27

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.438716Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 24dd2306-b727-49d7-a1ce-04f2c6cb196b · outbound

This paper cites SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment

Reference 28

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.446970Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 7fe2f961-6b89-4d90-a7fd-c30795c8f479 · outbound

This paper cites HiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decoder.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive HiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decoder

Reference 29

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.312706Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation f2855356-777a-4deb-814c-e46644154ecb · outbound

This paper cites DiffRefiner: Coarse to fine trajectory planning via diffusion re- finement with semantic interaction for end-to-end autonomous driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive DiffRefiner: Coarse to fine trajectory planning via diffusion re- finement with semantic interaction for end-to-end autonomous driving

Reference 30

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.357694Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 15e96715-8b31-4514-b7b8-7bbf44a62243 · outbound

This paper cites Rap: 3d rasterization augmented end-to-end planning.arXiv preprint arXiv:2510.04333.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive Rap: 3d rasterization augmented end-to-end planning.arXiv preprint arXiv:2510.04333

Reference 31

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:51:14.391899Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 9c9fa348-26c3-497e-b702-9fa48ac3302a · outbound

This paper cites LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving.

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving

Reference 32

Resolution: verified exact; local_arxiv, observed 2026-05-11T14:51:14.429162Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Pith citing papers

Observation 981e7c60-9472-4094-82f0-a8e387b1f32f · inbound

Validate the Dream Before You Trust Its Verdict: Admissibility for World-Model Simulators cites this paper.

Validate the Dream Before You Trust Its Verdict: Admissibility for World-Model Simulators Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive

Reference 44

Resolution: verified exact; local_arxiv, observed 2026-07-09T17:56:25.539323Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 90037e2e-1414-4f47-8e99-3962c217a7e5 · inbound

When Shared Rollouts Fail in Defensive Driving Evaluation: A NAVSIM Score Basis Audit cites this paper.

When Shared Rollouts Fail in Defensive Driving Evaluation: A NAVSIM Score Basis Audit Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-06T14:11:00.387602Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.