SAH-Drive, a hybrid of PDM-Closed and a diffusion proposal generator with a dual-timescale decision neuron, achieves state-of-the-art scores on the interPlan long-tail benchmark.
First, the historical trajectory and noised future trajectory are encoded into a history embedding and trajectory embedding, respectively
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SAH-Drive: A Scenario-Aware Hybrid Planner for Closed-Loop Vehicle Trajectory Generation
SAH-Drive, a hybrid of PDM-Closed and a diffusion proposal generator with a dual-timescale decision neuron, achieves state-of-the-art scores on the interPlan long-tail benchmark.