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DiffuSearch is introduced, a novel hybrid planner that uses a unified set of objectives across generation and refinement, and achieves strong and often state-of-the-art performance, substantially reducing collisions and improving comfort, particularly in complex, interactive scenarios.
GhostPoint is proposed, an SSL framework that hallucinates latent features in local neighborhoods around discovered instances, generated via a novel instance voxel dilation, and introduces a predictor-level supervision scheme on sampled voxels from generated neighborhoods.
This work removes a model's camera input and replaces it with memories from prior drives at the same location, suggesting that a high NAVSIM score does not require a planner to react to the current traffic scene and should be treated with caution.
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