# GRID-Planner：用于扩散规划的图结构关系奖励塑形

> 原文链接：https://robotics.hellobike.com/papers/2026-10-15-2610-21984
> 频道：papers | 更新日期：2026-10-15 | 标签：arxiv, cs.RO
> 核心摘要：针对复杂多智能体交互下的自动驾驶闭环规划难题，GRID-Planner用图关系奖励整合扩散规划，并在nuPlan和interPlan验证。

# GRID-Planner：用于扩散规划的图结构关系奖励塑形

::: v-pre
> 原文链接：[GRID-Planner: Graph-Structured Relational Reward Shaping for Diffusion Planning](https://arxiv.org/abs/2610.21984)（arXiv 2610.21984 · 发布日期：2026-10-15）

**GRID-Planner: Graph-Structured Relational Reward Shaping for Diffusion Planning**

针对复杂多智能体交互下的自动驾驶闭环规划难题，GRID-Planner用图关系奖励整合扩散规划，并在nuPlan和interPlan验证。

## 核心要点

- 复杂多智能体场景中，安全、合规、舒适的轨迹选择与闭环决策仍具挑战。
- 方法结合图感知重要性加权、时间索引关系奖励替代和优势加权扩散目标。
- 通过在策略自蒸馏形成rollout-return-advantage-update循环，无需显式似然。
- 相较仅扩散基线，碰撞率、车道偏离、jerk分别降35.8%、60.8%、27.4%，规划分数升3.4%。

**验证范围与局限**：验证范围为nuPlan和interPlan上的实验，并与diffusion-only基线比较。

## 英文摘要 (Abstract)

Autonomous driving planning requires selecting trajectories that remain safe, rule-compliant, and comfortable under complex multi-agent interactions, yet robust closed-loop decision making in planning-critical scenes remains challenging. Existing diffusion- and RL-based planners often rely on generic rewards and use relational structure mainly for representation, limiting how planning-critical rollouts shape policy improvement. We present GRID-Planner, a graph--reward integrated diffusion planning framework that aligns generative planning with structured relational signals. Specifically, GRID-Planner combines graph-aware importance weighting, a time-indexed relational reward surrogate, and an advantage-weighted diffusion objective with on-policy self-distillation, forming a rollout-return-advantage-update loop without explicit likelihoods. Experiments on nuPlan and interPlan show that, compared with the diffusion-only baseline, GRID-Planner reduces collision rate, lane deviation, and jerk by 35.8\%, 60.8\%, and 27.4\%, respectively, and improves the planning score by 3.4\%. Project website: https://github.com/yangzhaojason/GRID-Planner.

作者：Zhao Yang, Zezhong Qian, Yinan Shi, Longjun Liu, Yawei Jueluo
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## 原始参考来源 (Sources)

- [arXiv 2610.21984：GRID-Planner: Graph-Structured Relational Reward Shaping for Diffusion Planning](https://arxiv.org/abs/2610.21984)