Closed-loop motion planning on nuPlan (68-scenario subset 14 val)
10.29Collision RatePC-Diffuser
Evaluation results
| Method | Links | ||
|---|---|---|---|
| PC-DiffuserBase Planner=DiffusionPlanner, Safety Augmentation Strategy=PC-CBF (Path-Consistent CBF), Evaluation Protocol=Closed-loop2026.03 | 10.29 | 0.59 | |
| Classifier GuidanceBase Planner=DiffusionPlanner, Safety Augmentation Strategy=Classifier Guidance, Evaluation Protocol=Closed-loop2026.03 | 74.29 | 0.15 | |
| Relaxed-Safe DiffuserBase Planner=DiffusionPlanner, Safety Augmentation Strategy=SafeDiffuser, Variant=Relaxed, Evaluation Protocol=Closed-loop2026.03 | 78.57 | 0.15 | |
| MPC-CBFBase Planner=DiffusionPlanner, Safety Augmentation Strategy=MPC-CBF, Evaluation Protocol=Closed-loop2026.03 | 79.29 | 0.1 | |
| Robust-Safe DiffuserBase Planner=DiffusionPlanner, Safety Augmentation Strategy=SafeDiffuser, Variant=Robust, Evaluation Protocol=Closed-loop2026.03 | 81.43 | 0.1 | |
| Time-Varying-Safe DiffuserBase Planner=DiffusionPlanner, Safety Augmentation Strategy=SafeDiffuser, Variant=Time-Varying, Evaluation Protocol=Closed-loop2026.03 | 88.57 | 0.07 | |
| Vanilla (DiffusionPlanner)Base Planner=DiffusionPlanner, Evaluation Protocol=Closed-loop2026.03 | 100 | 0 |