US Patent 11958501 Performance-based metrics for evaluating system quality

Techniques relating to performance-based metrics for evaluating system quality are described. In an example, sensor data associated with an environment within which a vehicle is positioned is received. A performance metric associated with a trajectory, indicative of a performed behavior of the vehicle, can be determined and a correctness metric can be determined based at least in part on the performance metric. The correctness metric can represent a correctness of the performed behavior. Modification(s) to component(s) and/or system(s), or portions thereof, of the vehicle can be affected based at least in part on the correctness metric.