Table 2. Offline evaluation across ablations and baselines. Best, 2nd.

Full System (Full Data)	Collision ↑	Smoothness ↑	Best of 1 ↓	Best of 15 ↓
GT	97.6	∞	0.0	0.0
Ours	91.4	4.82	0.76	0.39
w/o DINOv3 features	90.6	4.76	0.81	0.41
Ours - Pilot	89.2	2.04	0.87	0.47
Component Ablations (Pilot Data)
w/o attention	86.6	2.78	1.00	0.49
w/o semantic	84.1	4.17	0.91	0.53
w/o VM or DINO (Traj only)	82.5	2.04	1.19	0.48
Baselines (Pilot Data)
Ours - Pilot	89.2	2.04	0.87	0.47
VAE-LSTM	84.5	9.09	1.01	N/A
CXA Transformer	80.3	3.70	1.25	N/A