Diffusion Forcing Planner applies heterogeneous joint diffusion with time-dependent noise and classifier-free guidance on history segments to generate stable, controllable motion plans for autonomous driving on nuPlan.
Coplanner: An interactive motion plan- ner with contingency-aware diffusion for autonomous driv- ing.arXiv preprint arXiv:2509.17080, 2025
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Lightweight confidence-aware LM distilled from multi-agent CoT demonstrations achieves SOTA success rates on nuPlan benchmark for AD decision-making with low inference latency.
citing papers explorer
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Diffusion Forcing Planner: History-Annealed Planning with Time-Dependent Guidance for Autonomous Driving
Diffusion Forcing Planner applies heterogeneous joint diffusion with time-dependent noise and classifier-free guidance on history segments to generate stable, controllable motion plans for autonomous driving on nuPlan.
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Decision-Making with Lightweight Confidence-Aware Language Model for Autonomous Driving
Lightweight confidence-aware LM distilled from multi-agent CoT demonstrations achieves SOTA success rates on nuPlan benchmark for AD decision-making with low inference latency.