@article{nondifferentiablerewardoptimizationfordi,
  title = {Non-differentiable Reward Optimization for Diffusion-based Autonomous Motion Planning},
  author = {Giwon Lee and Daehee Park and Jaewoo Jeong and Kuk-Jin Yoon},
  year = {2025},
  eprint = {2507.12977},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.12977},
}