DiffuSearch: How Hybrid Trajectory Planning Benefits from Aligned Objectives in Diffusion and Action Space
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.
Steffen Hagedorn, Aron Distelzweig, Alexandru Condurache
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