{"id":"https://openalex.org/W7164210838","doi":"https://doi.org/10.48550/arxiv.2606.11019","title":"Diffusion Forcing Planner: History-Annealed Planning with Time-Dependent Guidance for Autonomous Driving","display_name":"Diffusion Forcing Planner: History-Annealed Planning with Time-Dependent Guidance for Autonomous Driving","publication_year":2026,"publication_date":"2026-06-09","ids":{"openalex":"https://openalex.org/W7164210838","doi":"https://doi.org/10.48550/arxiv.2606.11019"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.11019","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11019","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.11019","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138324690","display_name":"Zehan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zehan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138367154","display_name":"Neng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Neng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113276410","display_name":"Yaoyi Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yaoyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138310981","display_name":"Jia Cai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cai, Jia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138387783","display_name":"Zhiling Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhiling","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7947999835014343,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7947999835014343,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.051100000739097595,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0414000004529953,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/forcing","display_name":"Forcing (mathematics)","score":0.6883999705314636},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6820999979972839},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.626800000667572},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.555400013923645},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5529999732971191},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.46129998564720154},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44940000772476196},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.43380001187324524}],"concepts":[{"id":"https://openalex.org/C197115733","wikidata":"https://www.wikidata.org/wiki/Q1003136","display_name":"Forcing (mathematics)","level":2,"score":0.6883999705314636},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6820999979972839},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.626800000667572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5720999836921692},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.555400013923645},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5529999732971191},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46129998564720154},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44940000772476196},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4404999911785126},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.43380001187324524},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36410000920295715},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35120001435279846},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.34860000014305115},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3151000142097473},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.2824000120162964},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2709999978542328},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C177454536","wikidata":"https://www.wikidata.org/wiki/Q578290","display_name":"Emphasis (telecommunications)","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.25850000977516174},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.2581999897956848},{"id":"https://openalex.org/C90794131","wikidata":"https://www.wikidata.org/wiki/Q7410146","display_name":"Sampled data systems","level":3,"score":0.2556000053882599}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.11019","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11019","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.11019","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11019","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.648780882358551,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Learning-based":[0],"motion":[1,147],"planners,":[2],"despite":[3],"recent":[4],"progress,":[5],"often":[6],"suffer":[7],"from":[8],"temporal":[9],"inconsistency.":[10],"Small":[11],"perturbations":[12],"across":[13],"frames":[14],"can":[15],"accumulate":[16],"into":[17,80],"unstable":[18],"trajectories,":[19],"degrading":[20],"comfort":[21],"and":[22,83,86,100,130,145],"safety":[23],"in":[24,124,149],"closed-loop":[25],"driving.":[26],"Several":[27],"methods":[28],"attempt":[29],"to":[30,38,42,46,53,91,117],"inject":[31],"history":[32,123],"as":[33],"a":[34,66,105,125],"static":[35],"conditioning":[36],"signal":[37],"stabilize":[39],"outputs,":[40],"only":[41],"induce":[43],"the":[44,77,98,101],"planner":[45],"copy":[47],"historical":[48,99],"patterns":[49],"instead":[50],"of":[51],"adapting":[52],"environment":[54],"contexts.":[55],"To":[56],"address":[57],"this":[58],"limitation,":[59],"we":[60],"propose":[61],"Diffusion":[62],"Forcing":[63],"Planner":[64],"(DFP),":[65],"diffusion-based":[67],"planning":[68],"framework":[69],"driven":[70],"by":[71],"history-guided":[72],"control.":[73],"Specifically,":[74],"DFP":[75,137],"decomposes":[76],"full":[78],"trajectory":[79],"history,":[81],"current":[82],"future":[84,102,119],"segments,":[85,103],"assign":[87],"independent":[88],"noise":[89],"levels":[90],"each":[92],"segment.":[93],"The":[94],"model":[95],"jointly":[96],"denoises":[97],"enforcing":[104],"heterogeneous":[106],"joint":[107],"diffusion":[108],"process.":[109],"At":[110],"inference,":[111],"classifier-free":[112],"guidance":[113],"(CFG)":[114],"is":[115],"applied":[116],"steer":[118],"sampling":[120],"using":[121],"annealed":[122],"controllable":[126,146],"manner.":[127],"Closed-loop":[128],"evaluation":[129],"comprehensive":[131],"ablations":[132],"on":[133],"nuPlan":[134],"show":[135],"that":[136],"achieves":[138],"competitive":[139],"performance":[140],"while":[141],"producing":[142],"continuous,":[143],"stable,":[144],"plans":[148],"complex":[150],"driving":[151],"scenarios.":[152]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-11T00:00:00"}
