FLY-EVAL++: Evidence-Based Evaluation for Safety-Constrained Modeling in Embodied Systems
Yalun Wu · Junfeng Fang · Jiawei Wang · Haotian Liu · Qijun Yang · Minghan Yang · Hongcheng Guo · Zhoujun Li · Boyang Wang
We show that accuracy is insufficient for evaluating LLMs in safety-critical settings, and propose an evidence-based framework that reveals substantial gaps in safety compliance between similarly performing models.
摘要
Evaluating large language models (LLMs) in safety-critical, physics-governed environments requires more than accuracy-based metrics, because predictions that are numerically close to the ground truth can still violate operational constraints, combine fields in physically inconsistent ways, or fail to produce usable structured outputs. Existing evaluation protocols do not measure these failure modes reliably. We propose FLY-EVAL++, an evidence-driven evaluation protocol that combines deterministic verification of protocol compliance, physical feasibility, and safety constraints with fixed rubric-guided aggregation into interpretable multi-dimensional scores. We instantiate FLY-EVAL++ for Flight Trajectory and Attitude Prediction (FTAP) by extending the PilotBench setting with history-conditioned and multi-step prediction tasks. Across 66 LLMs, safety compliance is the most discriminative dimension of model behavior: models with comparable predictive performance differ by more than 28 points in safety score, and we observe recurrent failures including safety violations under physically plausible predictions and instability in multi-step rollouts. These results show that evaluation in safety-critical domains should measure constraint satisfaction and structured validity explicitly rather than rely on accuracy-centric reporting alone.