EnDfuser replaces point-estimate trajectory planning with ensemble diffusion in a single attention-pooling transformer module to model posterior trajectory uncertainty and improve safety in end-to-end autonomous driving.
Diffusion-es: Gradient-free planning with diffusion for autonomous and instruction-guided driving
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Using Ensemble Diffusion to Estimate Uncertainty for End-to-End Autonomous Driving
EnDfuser replaces point-estimate trajectory planning with ensemble diffusion in a single attention-pooling transformer module to model posterior trajectory uncertainty and improve safety in end-to-end autonomous driving.