@article{diffusionesgradientfreeplanningwith,
  title = {Diffusion-ES: Gradient-free Planning with Diffusion for Autonomous Driving and Zero-Shot Instruction Following},
  author = {Brian Yang and Huangyuan Su and Nikolaos Gkanatsios and Tsung-Wei Ke and Ayush Jain and Jeff Schneider and Katerina Fragkiadaki},
  year = {2024},
  eprint = {2402.06559},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2402.06559v2},
}