DiffusionDrive shows that seeding a diffusion policy with K-Means anchor trajectories and truncating the diffusion schedule allows real-time (45 FPS) end-to-end driving planning with a 2-step denoising process and a 88.1 PDMS score on NAVSIM.
nuscenes: A multi- modal dataset for autonomous driving
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DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving
DiffusionDrive shows that seeding a diffusion policy with K-Means anchor trajectories and truncating the diffusion schedule allows real-time (45 FPS) end-to-end driving planning with a 2-step denoising process and a 88.1 PDMS score on NAVSIM.