feat(benchmark): swappable-planner harness (latency + smoothness) for gru/flow_matching/bezier#83
Merged
m-zain-khawaja merged 1 commit intoJun 23, 2026
Conversation
… for gru/flow_matching/bezier Compares the registered planners under identical conditions: inference latency (p50/p99/jitter), param count, and architectural smoothness (Var(Δaccel), Var(Δcurvature)) on the (accel, curvature) unicycle output. ADE/FDE, off-road, collision and closed-loop are left as documented hooks (need trained checkpoint + dataset/simulator). Addresses @m-zain-khawaja's request in autowarefoundation#69 / autowarefoundation#56. Signed-off-by: GABRIELA CORDOVA <100548769@alumnos.uc3m.es>
m-zain-khawaja
approved these changes
Jun 23, 2026
m-zain-khawaja
left a comment
m-zain-khawaja
left a comment
Member
There was a problem hiding this comment.
Approved - thanks @gcordova10
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
As requested in #69, moving the planner benchmark to its own PR. It runs
gru,flow_matchingandbezierthroughPLANNER_REGISTRYunder identical conditions and reports inference latency (p50/p99/jitter), param count, and architectural smoothness (Var(Δaccel),Var(Δcurvature)) on the(accel, curvature)output.