Zehan Zhang, Neng Zhang, Yaoyi Li, Jia Cai, Zhiling Wang: Diffusion Forcing Planner: History-Annealed Planning with Time-Dependent Guidance for Autonomous Driving https://arxiv.org/abs/2606.11019 https://arxiv.org/pdf/2606.11019 https://arxiv.org/html/2606.11019