An Open-Source Modular Benchmark for Diffusion-Based Motion Planning in Closed-Loop Autonomous Driving
Diffusion-based motion planners have achieved state-of-the-art results on benchmarks such as nuPlan, yet their evaluation within closed-loop production autonomous driving stacks remains largely unexplored. Existing evaluations abstract away ROS 2 communication latency and real-time scheduling constraints, while monolithic ONNX deployment freezes all solver parameters at export time. We present an open-source modular benchmark that addresses both gaps: using ONNX GraphSurgeon, we decompose a monolithic 18,398 node diffusion planner into three independently executable modules and reimplement the DPM-Solver++ denoising loop in native C++. Integrated as a ROS 2 node within Autoware, the open-...
| Authors | Yun Li, Simon Thompson, Yidu Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 1 March 2026 |
| Last updated at source | 1 March 2026 |
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