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cs.RO2026
To Route or to Adapt? Multi-Expert Diffusion Planners in Unseen Regions
Yun Li, Ehsan Javanmardi, Simon Thompson +7
Diffusion trajectory planners with domain-specific experts face a practical question in unseen regions: can they rely on selecting among existing experts, or must the planner itsel…
cs.RO2026
An Open-Source Modular Benchmark for Diffusion-Based Motion Planning in Closed-Loop Autonomous Driving
Yun Li, Simon Thompson, Yidu Zhang +2
Diffusion-based motion planners have achieved state-of-the-art results on benchmarks such as nuPlan, yet their evaluation within closed-loop production autonomous driving stacks re…