Diffusion-Based Planning for Autonomous Driving with Flexible Guidance - Zheng, Yinan; Liang, Ruiming; ZHENG, Kexin; Zheng, Jinliang; Mao, Liyuan; Li, Jianxiong; Gu, Weihao; Ai, Rui; Li, Shengbo; Zhan, Xianyuan; Liu, Jingjing (International Conference on Learning Representations, 2025)