{"paper":{"title":"Bridging Predictive Uncertainty and Safe Action: Sample-Conditioned Differentiable Planning for Autonomous Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chengzhen Meng, Chen Lv, Jun Ma, Pei Liu, Zhiyu Huang","submitted_at":"2026-06-02T08:10:02Z","abstract_excerpt":"Complex, dynamic, and interactive driving environments pose significant challenges for autonomous driving, primarily due to the pervasive uncertainty of surrounding traffic. A fundamental bottleneck in current systems is the disconnect between highly expressive uncertainty modeling and interpretable, safe motion planning. In this paper, we propose a novel sample-conditioned differentiable planning framework that bridges this gap by explicitly incorporating diffusion-generated future trajectories into the optimization process. Rather than compressing predictions into a single deterministic futu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.03296","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.03296/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}