### KnowVal: A Knowledge-Augmented and Value-Guided Autonomous Driving System

Anonymous CVPR submission



#### Samples of the Value Model Dataset

```
sceneid-trajid.png - [png] perception result of HENet++ model
sceneid-trajid.pkl - [json pickle] training and test data
    {
        "data_idx": [int] data index
        "scene_feats" : [torch.Tensor size([825,1, 256])] scene dense feature
        "instance_query" : [torch.Tensor size([201,1,256]] instance sparse feature
        "ego_traj": [torch.Tensor size([1,6,2])] ego trajectory
        "rules": [list of str] knowledge entries
        "scores": [list of int] GT scores
    }
```