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DiffuSearch: How Hybrid Trajectory Planning Benefits from Aligned Objectives in Diffusion and Action Space

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

In trajectory planning for autonomous driving, hybrid planning architectures are often realized as a collection of disparate modules, each with its own objectives. This lack of a unifying principle can lead to inconsistencies between the initial and refined trajectory, resulting in suboptimal behavior. We address this by introducing DiffuSearch, a novel hybrid planner that uses a unified set of objectives across generation and refinement. Our model encourages all components to follow the same shared driving goals: collision avoidance, drivable area compliance, comfort, and progress. DiffuSearc

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