HERA-GM: Reproducibility Artifacts for Evaluating Conditional Execution Authority in Offline-RL Tactical Driving

This record contains the study-specific reproducibility artifacts for the HERA-GM evaluation of conditional execution authority in offline reinforcement learning-based tactical driving. The archive includes versioned manifests, grouped outer- and inner-fold assignments, preprocessing and threshold records, checkpoint identifiers and SHA-256 hashes, run summaries, metric definitions, representative decision traces, aggregated scenario-level analysis tables, environment information, and analysis and figure-generation scripts. The original nuPlan dataset, maps, sensor data, databases, and annotations are not redistributed. Users must obtain nuPlan separately from the official source and comply with its license. Checkpoint binaries are not included; the archive provides identifiers, selected configurations, hashes, and training metadata for the evaluated models. These materials correspond to version 1.0.0 of the HERA-GM reproducibility package. They support re-analysis of the reported results and reconstruction of the study workflow, subject to access to the original nuPlan data and a compatible software environment.