DiDrive introduces a risk‑aware hierarchical diffusion framework for offline reinforcement learning in autonomous driving. It combines a low‑level risk‑gated encoder with a high‑level contextual modulator to filter redundant state information, and a 3DICE policy optimization that reduces out‑of‑distribution overestimation and stabilizes gradients. On the CARLA benchmark, DiDrive outperforms baselines such as IQL, CQL, and Diffusion‑QL, achieving an 85% success rate and a 4295.68 average reward in dense traffic with 60 vehicles.
By Qisong Guo, Jingtang Chen, Zhilin Chen, Pei Xu, Mingjian Fu, Wenxi Liu, Yuanlong Yu
arXiv:2609.39995v2 Announce Type: new
Abstract: Diffusion planners exhibit strong capabilities in generating multimodal trajectories. However, existing methods primarily rely on expert demonstrations...
By Jiaxi Ye, Chunji Lv, Guoren Wang, Changsheng Li
The paper presents a training-free diffusion-based motion planner that replaces learned global trajectory scores with analytical local scores derived from obstacle, smoothness, velocity, and inter-agent feasibility terms. By reconstructing trajectory scores through local interactions between neighboring waypoints and nearby constraints, the method decomposes the denoising process while preserving the optimization structure of classical trajectory methods. Experiments demonstrate that this approach generates smooth, feasible trajectories for large multi-agent tasks in complex environments quickly, outperforming learning-based and optimization baselines without requiring training data.
By Michael Y. Fatemi, Jinhao Liang, Ferdinando Fioretto
arXiv:2602. 07339v2 Announce Type: replace Abstract: Diffusion-based trajectory planners can model multi-modal driving behavior, but their iterative denoising process introduces a latency bottleneck for real-time closed-loop deployment.
By Ruturaj Reddy, Hrishav Bakul Barua, Junn Yong Loo, Thanh Thi Nguyen, Ganesh Krishnasamy
arXiv:2510. 02695v3 Announce Type: replace-cross Abstract: In safety-critical domains where online data collection is infeasible, offline reinforcement learning (RL) is attractive only if policies achieve high returns without catastrophic lower-tail risk.
By Kai Fukazawa, Kunal Mundada, Iman Soltani
arXiv:2601. 00898v3 Announce Type: replace Abstract: Diffusion-based policies have gained growing popularity in solving a wide range of decision-making tasks due to their superior expressiveness and controllable generation during inference.
By Ruiming Liang, Yinan Zheng, Kexin Zheng, Tianyi Tan, Jianxiong Li, Liyuan Mao, Zhihao Wang, Guang Chen, Hangjun Ye, Jingjing Liu, Jinqiao Wang, Xianyuan Zhan
The paper introduces Diffusion-Augmented Markov Decision Processes (DA‑MDPs), a framework that extends Maximum Entropy Reinforcement Learning to diffusion-based policies. DA‑MDPs treat each reverse‑diffusion step as an RL decision, deriving a tractable reverse‑KL bound that decomposes across denoising transitions and yields diffusion‑augmented soft rewards, value functions, and policy objectives. The authors implement this framework with PPO, REPPO, and a maximum‑entropy WPO variant, showing improved continuous‑control performance, higher success rates on manipulation tasks, and memory‑efficient training with action chunking.
By Sebastian Sanokowski, Kaustubh Patil, Majid Khadiv
arXiv:2606. 06423v1 Announce Type: cross Abstract: Safety-critical traffic scenario generation is essential for evaluating autonomous driving systems under rare but high-risk interactions.
By Qi Lan, Yining Tang, Yu Shen, Yi Zhou, Yuhao Wei, Jie Li, Guofa Li
The paper presents a single pretrained diffusion traffic model that serves both as an ego motion planner and as a controllable generator of safety‑critical scenarios for autonomous driving. It introduces a Single‑Stream Dual‑Stream diffusion‑transformer decoder (SSDS) that fuses scene context via joint attention, improving closed‑loop performance on the nuPlan benchmark, and a training‑free guidance scheme called Decoupled Annealing Posterior Sampling with Energy (DAPSE) that injects arbitrary energy functions at inference time. Using the same model, the authors generate realistic long‑tail driving interactions—such as aggressive cut‑ins and lead‑vehicle braking—through inference‑time guidance, exposing failure modes in black‑box planners that standard benchmarks miss.
By Arka Pal, Rajesh Kumar, Hannes Eriksson, R\'emi Lacombe, Arvid Laveno Ling, Ankit Gupta, Maciej Wozniak
arXiv:2606. 15359v1 Announce Type: new Abstract: Diffusion models have emerged as powerful tools for planning and control by learning multimodal distributions over actions and trajectories.
By Paolo Giaretta, Zeyang Li, Navid Azizan
arXiv:2606. 10825v1 Announce Type: new Abstract: Diffusion policies (DPs) have emerged as expressive policy representations for robot learning, often used with imitation learning methods such as behavioral cloning (BC).
By Zakariae El Asri, Philippe Gratias-Quiquandon, Nicolas Thome, Olivier Sigaud
arXiv:2607. 14522v1 Announce Type: new Abstract: We formulate reinforcement learning (RL) in continuous time with discrete state spaces and possibly arbitrary action spaces via a stochastic control approach, where the state dynamics are modeled as a controlled continuous-time Markov chain (CTMC).
By Zikun Zhang, Jiayuan Sheng, David D. Yao, Wenpin Tang