Diffusion-ES: Gradient-Free Planning with Diffusion for Autonomous and Instruction-Guided Driving

Brian Yang, Huangyuan Su, Nikolaos Gkanatsios, Tsung-Wei Ke, Ayush Jain +2 more
2/9/2026

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@article{yang2026diffusiones,
  title  = {Diffusion-ES: Gradient-Free Planning with Diffusion for Autonomous and Instruction-Guided Driving},
  author = {Brian Yang and Huangyuan Su and Nikolaos Gkanatsios and Tsung-Wei Ke and Ayush Jain and Jeff G. Schneider and Katerina Fragkiadaki},
  year   = {2026},
  doi    = {10.1109/CVPR52733.2024.01453},
  url    = {https://doi.org/10.1109/CVPR52733.2024.01453},
  journal = {CVPR 2024 2024}
}

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