@article{anopensourcemodularbenchmarkfordiffusion,
  title = {An Open-Source Modular Benchmark for Diffusion-Based Motion Planning in Closed-Loop Autonomous Driving},
  author = {Yun Li and Simon Thompson and Yidu Zhang and Ehsan Javanmardi and Manabu Tsukada},
  year = {2026},
  eprint = {2603.01023},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.01023},
}