Using Ensemble Diffusion to Estimate Uncertainty for End-to-End Autonomous Driving

ArXi:2506.00560v2 Announce Type: replace-cross End-to-end planning systems for autonomous driving are rapidly improving, especially in closed-loop simulation environments like CARLA. Many such driving systems either do not consider uncertainty as part of the plan itself or obtain it by using specialized representations that do not generalize. In this paper, we propose EnDfuser, an end-to-end driving system that uses a diffusion model as the trajectory planner.