NOMAD: Lifelong Trajectory Planning via Non-Parametric Bayesian Memory-Adaptive Diffusion Experts

Autonomous vehicles operating in open-world environments must continually adapt to rare long-tail scenarios while preserving previously acquired driving skills. However, existing trajectory planning approaches struggle with this stability--plasticity trade-off, as they rely on static models or rigid rule-based controllers that cannot robustly handle evolving and complex traffic dynamics. Against this background, we propose NOMAD , a lifelong trajectory planning framework that integrates non-parametric Bayesian memory with diffusion-based trajectory generation, enabling continuous adaptation to long-tail scenarios without catastrophic forgetting. Our method maps growing scene contexts to a dynamically growing set of discrete memory clusters, which guide a conditional diffusion model to function as a mixture of experts specialized for diverse driving behaviors. To retain past knowledge during incremental learning, we introduce a generative replay mechanism that synthesizes pseudo-experiences from previously learned memory clusters. Extensive closed-loop evaluations on the nuPlan benchmark demonstrate that our approach achieves state-of-the-art performance on long-tail scenarios, improving the interPlan score by 9.4% over the strongest baseline, while maintaining competitive performance on regular driving benchmarks. Moreover, our method exhibits robust continual learning capability, achieving the highest average closed-loop score with positive backward transfer when adapting to sequentially introduced long-tail scenarios.