A diffusion-based autonomous driving planner that injects gradients from a spatio-temporal occupancy-and-route cost volume into late denoising steps improves closed-loop safety and progress across three benchmarks.
Safetynet: Safe planning for real-world self-driving vehicles using machine-learned policies,
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G2DP: Diffusion Planning with Spatio-Temporal Grid Guidance
A diffusion-based autonomous driving planner that injects gradients from a spatio-temporal occupancy-and-route cost volume into late denoising steps improves closed-loop safety and progress across three benchmarks.