diff --git a/autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml b/autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml
new file mode 100644
index 0000000000..38c13c15a7
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml
@@ -0,0 +1,29 @@
+/**:
+  ros__parameters:
+    plugins_path: $(find-pkg-share autoware_tensorrt_plugins)/plugins/libautoware_tensorrt_plugins.so
+    onnx_model_path: $(env HOME)/autoware_data/diffusion_planner/v4.0/diffusion_planner.onnx
+    args_path: $(env HOME)/autoware_data/diffusion_planner/v4.0/diffusion_planner.param.json
+    planning_frequency_hz: 10.0
+    ignore_neighbors: false
+    ignore_unknown_neighbors: true
+    traffic_light_group_msg_timeout_seconds: 0.2
+    batch_size: 1
+    temperature: [0.0]
+    velocity_smoothing_window: 8
+    stopping_threshold: 0.3
+    turn_indicator_keep_offset: -1.25
+    turn_indicator_hold_duration: 1.0
+    shift_x: false
+    delay_step: 0
+    line_string_max_step_m: 5.0
+    use_time_interpolation: false
+    planning_factor:
+      enable_stop: true
+      enable_slowdown: false
+      stop_keep_duration_threshold: 1.0  # [s]
+      stop_velocity_threshold: 0.1       # [m/s]
+      slowdown_accel_threshold: -0.3     # [m/s^2]
+    debug_params:
+      publish_debug_route: true
+      publish_debug_map: false
+      publish_debug_linestrings: true
diff --git a/autoware_launch/config/planning/neural_net_planner/trajectory_modifier.param.yaml b/autoware_launch/config/planning/neural_net_planner/trajectory_modifier.param.yaml
new file mode 100644
index 0000000000..1041990ded
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/trajectory_modifier.param.yaml
@@ -0,0 +1,69 @@
+/**:
+  ros__parameters:
+    plugin_names:
+      - "autoware::trajectory_modifier::plugin::ObstacleStop"
+      - "autoware::trajectory_modifier::plugin::StopPointFixer"
+    use_stop_point_fixer: true
+    use_obstacle_stop: true
+    trajectory_time_step: 0.1 # [s]
+
+    # Stop Point Fixer Plugin Parameters
+    stop_point_fixer:
+      force_stop_long_stopped_trajectories: true     # Force zero velocity trajectory for trajectories with long stops
+      force_stop_close_stopped_trajectories: true    # Force zero velocity trajectory for trajectories with stops close to ego
+      velocity_threshold: 0.25 # [m/s]
+      min_distance_threshold: 1.0 # [m]
+      min_stop_duration: 0.5 # [s]
+
+    # Obstacle Stop Plugin Parameters
+    obstacle_stop:
+      use_objects: true
+      use_pointcloud: true
+      enable_stop_for_objects: true
+      enable_stop_for_pointcloud: false
+      stop_margin: 6.0 # [m]
+      nominal_stopping_decel: 1.0 # [m/s^2]
+      maximum_stopping_decel: 4.0 # [m/s^2]
+      stopping_jerk: 3.0 # [m/s^3]
+      lateral_margin: 0.0     # lateral margin on top of ego width from trajectory to consider for obstacle stop [m]
+      arrived_distance_threshold: 0.5 # threshold to check if the ego vehicle has arrived at the stop point [m]
+
+      obstacle_tracking:
+        on_time_buffer: 0.5
+        off_time_buffer: 1.0
+        object_distance_th: 1.0 # [m]
+        object_yaw_th: 0.1745 # [rad] (10 degrees)
+        pcd_distance_th: 0.5 # [m]
+        grace_period: 0.2 # [s]
+
+      objects:
+        object_types: ["car", "truck", "bus", "trailer", "motorcycle", "bicycle", "pedestrian"] # object types to consider for obstacle stop
+        max_velocity_th: 1.0      # maximum velocity threshold for target object [m/s]
+
+      pointcloud:
+        height_buffer: 0.5  # height buffer to add above ego height [m]
+        min_height: 0.2  # minimum height of pointcloud [m]
+        voxel_grid_filter:
+          x: 0.2
+          y: 0.2
+          z: 0.2
+          min_size: 3
+        clustering:
+          tolerance: 0.5  #[m]
+          min_height: 0.5
+          min_size: 10
+          max_size: 10000
+
+      rss_params:
+        enable: true
+        object_decel:
+          car: 1.5
+          truck: 1.5
+          bus: 1.5
+          trailer: 1.5
+          motorcycle: 3.0
+          bicycle: 5.0
+          pedestrian: 5.0
+        reaction_time: 0.2 # [s]
+        safety_margin: 2.0 # [m]
+        min_vel_th: 0.5 # [m/s] minimum object velocity to consider for rss check
diff --git a/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer.param.yaml b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer.param.yaml
new file mode 100644
index 0000000000..af6eb05faf
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer.param.yaml
@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    # Plugin execution order - plugins will run in this order
+    plugin_names:
+      - "autoware::trajectory_optimizer::plugin::TrajectoryPointFixer"
+      - "autoware::trajectory_optimizer::plugin::TrajectoryKinematicFeasibilityEnforcer"
+      - "autoware::trajectory_optimizer::plugin::TrajectoryQPSmoother"
+      - "autoware::trajectory_optimizer::plugin::TrajectoryKinematicFeasibilityEnforcer"
+      - "autoware::trajectory_optimizer::plugin::TrajectoryVelocityOptimizer"
+      - "autoware::trajectory_optimizer::plugin::TrajectoryEBSmootherOptimizer"
+      - "autoware::trajectory_optimizer::plugin::TrajectorySplineSmoother"
+      - "autoware::trajectory_optimizer::plugin::TrajectoryMPTOptimizer"
+      - "autoware::trajectory_optimizer::plugin::TrajectoryExtender"
+
+    # Plugin activation flags - control runtime enable/disable
+    use_akima_spline_interpolation: true
+    use_eb_smoother: false
+    use_qp_smoother: true
+    use_trajectory_point_fixer: true
+    use_velocity_optimizer: true
+    use_trajectory_extender: false
+    use_kinematic_feasibility_enforcer: true
+    use_mpt_optimizer: false
diff --git a/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_extender.param.yaml b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_extender.param.yaml
new file mode 100644
index 0000000000..08b1406750
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_extender.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    trajectory_extender:
+      # Trajectory matching thresholds
+      nearest_dist_threshold_m: 1.5  # [m] Distance threshold for trajectory matching
+      nearest_yaw_threshold_deg: 60.0  # [deg] Yaw threshold for trajectory matching
+
+      # Backward extension
+      backward_trajectory_extension_m: 5.0  # [m] Length to extend trajectory backward using ego history
diff --git a/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_kinematic_feasibility_enforcer.param.yaml b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_kinematic_feasibility_enforcer.param.yaml
new file mode 100644
index 0000000000..4230d077a2
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_kinematic_feasibility_enforcer.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    # Plugin-specific parameters
+    trajectory_kinematic_feasibility:
+      # Maximum yaw rate [rad/s]. See kinematic_feasibility_enforcer.md for details
+      max_yaw_rate_rad_s: 0.7
+      # Time discretization
+      time_step_s: 0.1  # Fixed time step for yaw rate calculations [s]
diff --git a/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_mpt_optimizer.param.yaml b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_mpt_optimizer.param.yaml
new file mode 100644
index 0000000000..ed01c57349
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_mpt_optimizer.param.yaml
@@ -0,0 +1,91 @@
+/**:
+  ros__parameters:
+    trajectory_mpt_optimizer:
+      # Bounds Generation (custom parameters for trajectory_optimizer)
+      corridor_width_m: 3.5
+      enable_adaptive_width: true
+      curvature_width_factor: 0.5
+      velocity_width_factor: 0.3
+      min_clearance_m: 0.5
+      reset_previous_data_each_iteration: true
+      enable_debug_info: false
+      output_delta_arc_length_m: 1.0
+      output_backward_traj_length_m: 5.0
+      ego_nearest_dist_threshold_m: 3.0
+      ego_nearest_yaw_threshold_deg: 45.0
+      acceleration_moving_average_window: 5  # Moving average window size (larger = smoother)
+
+    # MPT Algorithm Parameters (required by autoware_path_optimizer MPTOptimizer)
+    # NOTE: These are solver parameters passed to the underlying MPT optimizer.
+    # Clearance parameters use "road" terminology from the solver, but in this implementation
+    # they represent clearance from the generated corridor bounds (simple perpendicular offsets),
+    # NOT actual road boundaries or drivable area from maps.
+    mpt:
+      option:
+        steer_limit_constraint: false
+        visualize_sampling_num: 1
+        enable_manual_warm_start: false
+        enable_warm_start: false
+        enable_optimization_validation: false
+
+      common:
+        num_points: 100
+        delta_arc_length: 1.0
+
+      clearance:
+        hard_clearance_from_road: 0.0  # Clearance from corridor bounds (not actual road)
+        soft_clearance_from_road: 0.1  # Clearance from corridor bounds (not actual road)
+
+      weight:
+        soft_collision_free_weight: 1.0
+        lat_error_weight: 1.0
+        yaw_error_weight: 0.0
+        yaw_error_rate_weight: 0.0
+        steer_input_weight: 1.0
+        steer_rate_weight: 1.0
+        terminal_lat_error_weight: 100.0
+        terminal_yaw_error_weight: 100.0
+        goal_lat_error_weight: 1000.0
+        goal_yaw_error_weight: 1000.0
+
+      avoidance:
+        max_bound_fixing_time: 1.0
+        max_longitudinal_margin_for_bound_violation: 1.0
+        max_avoidance_cost: 0.5
+        avoidance_cost_margin: 0.0
+        avoidance_cost_band_length: 5.0
+        avoidance_cost_decrease_rate: 0.05
+        min_drivable_width: 0.2
+
+        weight:
+          lat_error_weight: 0.0
+          yaw_error_weight: 10.0
+          steer_input_weight: 100.0
+
+      collision_free_constraints:
+        # NOTE: Collision avoidance is NOT active in this implementation.
+        # These parameters are part of the MPT solver configuration but unused
+        # because we don't provide obstacle data - only geometric corridor bounds.
+        option:
+          l_inf_norm: true
+          soft_constraint: true
+          hard_constraint: false
+
+        vehicle_circles:
+          method: "fitting_uniform_circle"
+
+          bicycle_model:
+            num_for_calculation: 3
+            front_radius_ratio: 1.0
+            rear_radius_ratio: 1.0
+
+          uniform_circle:
+            num: 3
+            radius_ratio: 1.0
+
+          fitting_uniform_circle:
+            num: 3
+
+      validation:
+        max_lat_error: 5.0
+        max_yaw_error: 1.046
diff --git a/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_point_fixer.param.yaml b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_point_fixer.param.yaml
new file mode 100644
index 0000000000..03816c154e
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_point_fixer.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    trajectory_point_fixer:
+      # Distance thresholds for point processing
+      remove_close_points: true    # Enable removal of close proximity points
+      resample_close_points: true     # Enable resampling of close proximity points
+      min_dist_to_remove_m: 0.01  # [m] Minimum distance to remove close proximity points
+      min_dist_to_resample_m: 0.05   # [m] Minimum distance to merge close proximity points
+      stop_detection_velocity_threshold_mps: 0.3  # [m/s] Velocity threshold for fallback stop detection in slow clusters
diff --git a/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_qp_smoother.param.yaml b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_qp_smoother.param.yaml
new file mode 100644
index 0000000000..4744aa3df0
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_qp_smoother.param.yaml
@@ -0,0 +1,34 @@
+/**:
+  ros__parameters:
+    trajectory_qp_smoother:
+      # QP Smoother Parameters
+      # Path-only optimization: smooths geometric path (x,y positions)
+      # Velocity/acceleration are derived from smoothed positions in post-processing
+
+      # Optimization weights
+      weight_smoothness: 10.0                 # Weight for path curvature minimization
+      weight_fidelity: 1.0                    # Baseline fidelity (used when velocity-based disabled)
+
+      # Time discretization
+      time_step_s: 0.1                        # Fixed time step for velocity/acceleration calculations [s]
+
+      # OSQP solver settings (tuned for real-time performance)
+      osqp_eps_abs: 1.0e-4                    # Absolute tolerance for convergence
+      osqp_eps_rel: 1.0e-4                    # Relative tolerance for convergence
+      osqp_max_iter: 100                      # Maximum solver iterations
+      osqp_verbose: false                     # Print solver output to console
+
+      # Orientation preservation
+      preserve_input_trajectory_orientation: false  # Copy orientations from input trajectory to smoothed output
+      max_distance_for_orientation_m: 5.0          # Max distance for nearest neighbor matching when copying orientations [m]
+
+      # Velocity-based fidelity weighting
+      use_velocity_based_fidelity: true      # Enable velocity-dependent fidelity (low weight at slow speeds)
+      velocity_threshold_mps: 0.3             # Speed at which sigmoid transitions (midpoint) [m/s]
+      sigmoid_sharpness: 50.0                 # Sigmoid steepness (higher = sharper transition)
+      min_fidelity_weight: 0.01                # Minimum fidelity at very low speeds
+      max_fidelity_weight: 1.0                # Maximum fidelity at high speeds
+
+      # Point constraints
+      num_constrained_points_start: 3        # Number of points from start to constrain (preserves initial state)
+      num_constrained_points_end: 0          # Number of points from end to constrain
diff --git a/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_spline_smoother.param.yaml b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_spline_smoother.param.yaml
new file mode 100644
index 0000000000..9121763368
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_spline_smoother.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    trajectory_spline_smoother:
+      # Spline interpolation
+      interpolation_resolution_m: 0.2  # [m] Interpolation resolution for Akima spline
+      max_distance_discrepancy_m: 5.0  # [m] Maximum position deviation allowed for orientation copying
+      preserve_input_trajectory_orientation: false  # Flag to indicate if orientation from original trajectory should be copied
diff --git a/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_velocity_optimizer.param.yaml b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_velocity_optimizer.param.yaml
new file mode 100644
index 0000000000..8cf7d32c2e
--- /dev/null
+++ b/autoware_launch/config/planning/neural_net_planner/trajectory_optimizer_plugins/trajectory_velocity_optimizer.param.yaml
@@ -0,0 +1,35 @@
+/**:
+  ros__parameters:
+    trajectory_velocity_optimizer:
+      # Trajectory matching thresholds
+      nearest_dist_threshold_m: 1.5  # [m] Distance threshold for trajectory matching
+      nearest_yaw_threshold_deg: 60.0  # [deg] Yaw threshold for trajectory matching
+
+      # Engage behavior
+      target_pull_out_speed_mps: 1.0  # [m/s] Target speed during pull-out maneuver
+      target_pull_out_acc_mps2: 1.0   # [m/s²] Target acceleration during pull-out
+      set_engage_speed: false         # Set minimum speed during engage
+
+      # Speed limiting (uses external_velocity_limit topic to set max speed)
+      limit_speed: true               # Enable speed limiting
+
+      # Lateral acceleration limiting
+      max_lateral_accel_mps2: 2.0     # [m/s²] Maximum lateral acceleration
+      limit_lateral_acceleration: false  # Enable lateral acceleration limiting, should be launched with velocity smoother
+      min_limited_speed_mps: 3.0        # [m/s] Minimum speed when applying lateral acceleration limit
+
+      # Velocity smoothing
+      smooth_velocities: false        # Enable jerk-filtered velocity smoothing
+
+      # Continuous jerk smoother settings
+      # Note: Kinematic limits (max_accel, min_decel, max_jerk, min_jerk) are loaded
+      # from the common namespace (limit.max_acc, limit.min_acc, limit.max_jerk, limit.min_jerk)
+      # Note: max_velocity uses max_speed_mps from parent namespace
+      continuous_jerk_smoother:
+        # QP optimization weights
+        jerk_weight: 30.0                     # Weight for jerk minimization (smoothness)
+        over_v_weight: 3000.0               # Weight for velocity limit violation (slack)
+        over_a_weight: 30.0                 # Weight for acceleration limit violation (slack)
+        over_j_weight: 10.0                  # Weight for jerk limit violation (slack)
+        velocity_tracking_weight: 1.0        # Weight for tracking reference velocity from input trajectory
+        accel_tracking_weight: 300.0         # Weight for tracking reference acceleration from input trajectory
diff --git a/autoware_launch/config/system/diagnostics/autoware-main-e2e.yaml b/autoware_launch/config/system/diagnostics/autoware-main-e2e.yaml
new file mode 100644
index 0000000000..22a8deb865
--- /dev/null
+++ b/autoware_launch/config/system/diagnostics/autoware-main-e2e.yaml
@@ -0,0 +1,15 @@
+files:
+  - { path: $(dirname)/autoware-main.yaml }
+
+edits:
+  - { type: remove, path: /autoware/planning/trajectory_validation/finite }
+  - { type: remove, path: /autoware/planning/trajectory_validation/interval }
+  - { type: remove, path: /autoware/planning/trajectory_validation/curvature }
+  - { type: remove, path: /autoware/planning/trajectory_validation/angle }
+  - { type: remove, path: /autoware/planning/trajectory_validation/lateral_acceleration }
+  - { type: remove, path: /autoware/planning/trajectory_validation/acceleration }
+  - { type: remove, path: /autoware/planning/trajectory_validation/deceleration }
+  - { type: remove, path: /autoware/planning/trajectory_validation/steering }
+  - { type: remove, path: /autoware/planning/trajectory_validation/steering_rate }
+  - { type: remove, path: /autoware/planning/trajectory_validation/velocity_deviation }
+  - { type: remove, path: /autoware/planning/trajectory_validation/trajectory_shift }
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 184aa7e5ab..617075e39c 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -8,6 +8,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- launch module preset -->
+  <arg name="planning_setting" default="rule_based" description="planning setting diffusion_planner / rule_based"/>
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
   <arg name="control_module_preset" default="default" description="control module preset"/>
 
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index f4e24adf96..c725445fb0 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -6,11 +6,16 @@
   <arg name="is_simulation" default="false"/>
   <arg name="use_sim_time" default="false"/>
   <arg name="vehicle_model" default="sample_vehicle"/>
+  <arg name="planning_setting" default="rule_based" description="planning setting diffusion_planner / rule_based"/>
 
   <!-- Input topic parameters for planning modules -->
   <arg name="planning_input_objects_topic_name" default="/perception/object_recognition/objects"/>
   <arg name="planning_input_pointcloud_topic_name" default="/perception/obstacle_segmentation/pointcloud"/>
 
+  <!-- Diffusion Planner Trajectory Optimizer Plugins-->
+  <let name="neural_net_planner_config_path" value="$(find-pkg-share autoware_launch)/config/planning/neural_net_planner"/>
+  <let name="optimizer_plugins_config_path" value="$(var neural_net_planner_config_path)/trajectory_optimizer_plugins"/>
+
   <!-- Global parameters -->
   <group scoped="false">
     <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
@@ -121,5 +126,21 @@
     <arg name="planning_validator_trajectory_checker_param_path" value="$(var common_config_path)/planning_validator/trajectory_checker.param.yaml"/>
     <arg name="planning_validator_intersection_collision_checker_param_path" value="$(var common_config_path)/planning_validator/intersection_collision_checker.param.yaml"/>
     <arg name="planning_validator_rear_collision_checker_param_path" value="$(var common_config_path)/planning_validator/rear_collision_checker.param.yaml"/>
+
+    <!-- trajectory generator params -->
+    <arg name="diffusion_planner_param_path" value="$(var neural_net_planner_config_path)/diffusion_planner.param.yaml"/>
+    <arg name="trajectory_modifier_param_path" value="$(var neural_net_planner_config_path)/trajectory_modifier.param.yaml"/>
+    <arg name="trajectory_optimizer_param_path" value="$(var neural_net_planner_config_path)/trajectory_optimizer.param.yaml"/>
+    <arg name="jerk_filtered_smoother_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml"/>
+    <arg name="velocity_smoother_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml"/>
+    <arg name="common_smoother_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/common.param.yaml"/>
+    <arg name="elastic_band_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml"/>
+    <arg name="trajectory_point_fixer_param_path" value="$(var optimizer_plugins_config_path)/trajectory_point_fixer.param.yaml"/>
+    <arg name="trajectory_extender_param_path" value="$(var optimizer_plugins_config_path)/trajectory_extender.param.yaml"/>
+    <arg name="trajectory_spline_smoother_param_path" value="$(var optimizer_plugins_config_path)/trajectory_spline_smoother.param.yaml"/>
+    <arg name="trajectory_qp_smoother_param_path" value="$(var optimizer_plugins_config_path)/trajectory_qp_smoother.param.yaml"/>
+    <arg name="trajectory_velocity_optimizer_param_path" value="$(var optimizer_plugins_config_path)/trajectory_velocity_optimizer.param.yaml"/>
+    <arg name="trajectory_kinematic_feasibility_enforcer_param_path" value="$(var optimizer_plugins_config_path)/trajectory_kinematic_feasibility_enforcer.param.yaml"/>
+    <arg name="trajectory_mpt_optimizer_param_path" value="$(var optimizer_plugins_config_path)/trajectory_mpt_optimizer.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 65ac8bc9d2..a60ffb5d80 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,8 +1,18 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="use_sim_time" default="false"/>
+  <arg name="planning_setting" default="rule_based" description="planning setting diffusion_planner / rule_based"/>
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+  <arg
+    name="diagnostic_graph_aggregator_graph_path"
+    default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main-e2e.yaml"
+    if="$(eval &quot;'$(var planning_setting)'=='diffusion_planner'&quot;)"
+  />
+  <arg
+    name="diagnostic_graph_aggregator_graph_path"
+    default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"
+    if="$(eval &quot;'$(var planning_setting)'=='rule_based'&quot;)"
+  />
 
   <set_parameter name="use_sim_time" value="$(var use_sim_time)"/>
 
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index f69b1942f7..ab5d66e970 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2109,6 +2109,98 @@ Visualization Manager:
               Value: true
           Enabled: true
           Name: ScenarioPlanning
+        - Class: rviz_common/Group
+          Displays:
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: true
+              Name: DiffusionPlannerRouteMarker
+              Namespaces:
+                {}
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/debug/route_marker
+              Value: true
+            - Class: tier4_planning_factor_rviz_plugin/PlanningFactorRvizPlugin
+              Enabled: true
+              Name: PlanningFactor(DiffusionPlanner)
+              Namespaces:
+                {}
+              Show Safety Factors: false
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /planning/planning_factors/diffusion_planner
+              Value: true
+              show_safety_factors: false
+            - BUS:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              CAR:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              CYCLIST:
+                Alpha: 0.9990000128746033
+                Color: 119; 11; 32
+              Class: autoware_perception_rviz_plugin/PredictedObjects
+              Confidence Interval: 95%
+              Display Acceleration: true
+              Display Existence Probability: false
+              Display Label: true
+              Display Pose Covariance: true
+              Display Predicted Path Confidence: true
+              Display Predicted Paths: true
+              Display Twist: true
+              Display Twist Covariance: false
+              Display UUID: true
+              Display Velocity: true
+              Display Yaw Covariance: false
+              Display Yaw Rate: false
+              Display Yaw Rate Covariance: false
+              Enabled: true
+              Line Width: 0.10000000149011612
+              MOTORCYCLE:
+                Alpha: 0.9990000128746033
+                Color: 119; 11; 32
+              Name: PredictedObjects
+              Namespaces:
+                acceleration: true
+                label: true
+                path: true
+                path confidence: true
+                position covariance: true
+                shape: true
+                twist: true
+                uuid: true
+                velocity: true
+              Object Fill Type: Fill
+              PEDESTRIAN:
+                Alpha: 0.9990000128746033
+                Color: 255; 192; 203
+              Polygon Type: 3d
+              TRAILER:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              TRUCK:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Best Effort
+                Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/output/predicted_objects
+              UNKNOWN:
+                Alpha: 0.9990000128746033
+                Color: 255; 255; 255
+              Value: true
+              Visualization Type: Normal
+          Enabled: true
+          Name: NeuralNetworkBasedPlanner
         - Class: rviz_common/Group
           Displays:
             - Class: rviz_default_plugins/MarkerArray
diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz
index 06766abc3d..e1a666f802 100644
--- a/autoware_launch/rviz/planning_bev.rviz
+++ b/autoware_launch/rviz/planning_bev.rviz
@@ -2156,6 +2156,98 @@ Visualization Manager:
               Value: true
           Enabled: true
           Name: ScenarioPlanning
+        - Class: rviz_common/Group
+          Displays:
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: true
+              Name: DiffusionPlannerRouteMarker
+              Namespaces:
+                {}
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/debug/route_marker
+              Value: true
+            - Class: tier4_planning_factor_rviz_plugin/PlanningFactorRvizPlugin
+              Enabled: true
+              Name: PlanningFactor(DiffusionPlanner)
+              Namespaces:
+                {}
+              Show Safety Factors: false
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /planning/planning_factors/diffusion_planner
+              Value: true
+              show_safety_factors: false
+            - BUS:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              CAR:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              CYCLIST:
+                Alpha: 0.9990000128746033
+                Color: 119; 11; 32
+              Class: autoware_perception_rviz_plugin/PredictedObjects
+              Confidence Interval: 95%
+              Display Acceleration: true
+              Display Existence Probability: false
+              Display Label: true
+              Display Pose Covariance: true
+              Display Predicted Path Confidence: true
+              Display Predicted Paths: true
+              Display Twist: true
+              Display Twist Covariance: false
+              Display UUID: true
+              Display Velocity: true
+              Display Yaw Covariance: false
+              Display Yaw Rate: false
+              Display Yaw Rate Covariance: false
+              Enabled: true
+              Line Width: 0.10000000149011612
+              MOTORCYCLE:
+                Alpha: 0.9990000128746033
+                Color: 119; 11; 32
+              Name: PredictedObjects
+              Namespaces:
+                acceleration: true
+                label: true
+                path: true
+                path confidence: true
+                position covariance: true
+                shape: true
+                twist: true
+                uuid: true
+                velocity: true
+              Object Fill Type: Fill
+              PEDESTRIAN:
+                Alpha: 0.9990000128746033
+                Color: 255; 192; 203
+              Polygon Type: 3d
+              TRAILER:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              TRUCK:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Best Effort
+                Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/output/predicted_objects
+              UNKNOWN:
+                Alpha: 0.9990000128746033
+                Color: 255; 255; 255
+              Value: true
+              Visualization Type: Normal
+          Enabled: true
+          Name: NeuralNetworkBasedPlanner
         - Class: rviz_common/Group
           Displays:
             - Class: rviz_default_plugins/MarkerArray
diff --git a/autoware_launch/rviz/planning_tpv.rviz b/autoware_launch/rviz/planning_tpv.rviz
index a964576633..1824b89ce3 100644
--- a/autoware_launch/rviz/planning_tpv.rviz
+++ b/autoware_launch/rviz/planning_tpv.rviz
@@ -2155,6 +2155,98 @@ Visualization Manager:
               Value: true
           Enabled: true
           Name: ScenarioPlanning
+        - Class: rviz_common/Group
+          Displays:
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: true
+              Name: DiffusionPlannerRouteMarker
+              Namespaces:
+                {}
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/debug/route_marker
+              Value: true
+            - Class: tier4_planning_factor_rviz_plugin/PlanningFactorRvizPlugin
+              Enabled: true
+              Name: PlanningFactor(DiffusionPlanner)
+              Namespaces:
+                {}
+              Show Safety Factors: false
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /planning/planning_factors/diffusion_planner
+              Value: true
+              show_safety_factors: false
+            - BUS:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              CAR:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              CYCLIST:
+                Alpha: 0.9990000128746033
+                Color: 119; 11; 32
+              Class: autoware_perception_rviz_plugin/PredictedObjects
+              Confidence Interval: 95%
+              Display Acceleration: true
+              Display Existence Probability: false
+              Display Label: true
+              Display Pose Covariance: true
+              Display Predicted Path Confidence: true
+              Display Predicted Paths: true
+              Display Twist: true
+              Display Twist Covariance: false
+              Display UUID: true
+              Display Velocity: true
+              Display Yaw Covariance: false
+              Display Yaw Rate: false
+              Display Yaw Rate Covariance: false
+              Enabled: true
+              Line Width: 0.10000000149011612
+              MOTORCYCLE:
+                Alpha: 0.9990000128746033
+                Color: 119; 11; 32
+              Name: PredictedObjects
+              Namespaces:
+                acceleration: true
+                label: true
+                path: true
+                path confidence: true
+                position covariance: true
+                shape: true
+                twist: true
+                uuid: true
+                velocity: true
+              Object Fill Type: Fill
+              PEDESTRIAN:
+                Alpha: 0.9990000128746033
+                Color: 255; 192; 203
+              Polygon Type: 3d
+              TRAILER:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              TRUCK:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Best Effort
+                Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/output/predicted_objects
+              UNKNOWN:
+                Alpha: 0.9990000128746033
+                Color: 255; 255; 255
+              Value: true
+              Visualization Type: Normal
+          Enabled: true
+          Name: NeuralNetworkBasedPlanner
         - Class: rviz_common/Group
           Displays:
             - Class: rviz_default_plugins/MarkerArray
diff --git a/autoware_launch/rviz/scenario_simulator.rviz b/autoware_launch/rviz/scenario_simulator.rviz
index 6461fd0bed..19b48c7cf2 100644
--- a/autoware_launch/rviz/scenario_simulator.rviz
+++ b/autoware_launch/rviz/scenario_simulator.rviz
@@ -2690,6 +2690,98 @@ Visualization Manager:
               Value: true
           Enabled: true
           Name: ScenarioPlanning
+        - Class: rviz_common/Group
+          Displays:
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: true
+              Name: DiffusionPlannerRouteMarker
+              Namespaces:
+                {}
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/debug/route_marker
+              Value: true
+            - Class: tier4_planning_factor_rviz_plugin/PlanningFactorRvizPlugin
+              Enabled: true
+              Name: PlanningFactor(DiffusionPlanner)
+              Namespaces:
+                {}
+              Show Safety Factors: false
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /planning/planning_factors/diffusion_planner
+              Value: true
+              show_safety_factors: false
+            - BUS:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              CAR:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              CYCLIST:
+                Alpha: 0.9990000128746033
+                Color: 119; 11; 32
+              Class: autoware_perception_rviz_plugin/PredictedObjects
+              Confidence Interval: 95%
+              Display Acceleration: true
+              Display Existence Probability: false
+              Display Label: true
+              Display Pose Covariance: true
+              Display Predicted Path Confidence: true
+              Display Predicted Paths: true
+              Display Twist: true
+              Display Twist Covariance: false
+              Display UUID: true
+              Display Velocity: true
+              Display Yaw Covariance: false
+              Display Yaw Rate: false
+              Display Yaw Rate Covariance: false
+              Enabled: true
+              Line Width: 0.10000000149011612
+              MOTORCYCLE:
+                Alpha: 0.9990000128746033
+                Color: 119; 11; 32
+              Name: PredictedObjects
+              Namespaces:
+                acceleration: true
+                label: true
+                path: true
+                path confidence: true
+                position covariance: true
+                shape: true
+                twist: true
+                uuid: true
+                velocity: true
+              Object Fill Type: Fill
+              PEDESTRIAN:
+                Alpha: 0.9990000128746033
+                Color: 255; 192; 203
+              Polygon Type: 3d
+              TRAILER:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              TRUCK:
+                Alpha: 0.9990000128746033
+                Color: 30; 144; 255
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Best Effort
+                Value: /planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/output/predicted_objects
+              UNKNOWN:
+                Alpha: 0.9990000128746033
+                Color: 255; 255; 255
+              Value: true
+              Visualization Type: Normal
+          Enabled: true
+          Name: NeuralNetworkBasedPlanner
         - Class: rviz_common/Group
           Displays:
             - Class: rviz_default_plugins/MarkerArray
diff --git a/tier4_universe_launch/tier4_planning_launch/launch/learning_based_planning/diffusion_planner.launch.xml b/tier4_universe_launch/tier4_planning_launch/launch/learning_based_planning/diffusion_planner.launch.xml
new file mode 100644
index 0000000000..04cbd394c6
--- /dev/null
+++ b/tier4_universe_launch/tier4_planning_launch/launch/learning_based_planning/diffusion_planner.launch.xml
@@ -0,0 +1,77 @@
+<launch>
+  <!-- planning module -->
+  <!-- diffusion planner -->
+  <arg name="diffusion_planner_param_path"/>
+
+  <!-- trajectory modifier -->
+  <arg name="trajectory_modifier_param_path"/>
+  <!-- trajectory optimizer -->
+  <arg name="trajectory_optimizer_param_path"/>
+  <arg name="jerk_filtered_smoother_param_path"/>
+  <arg name="velocity_smoother_param_path"/>
+  <arg name="common_smoother_param_path"/>
+  <arg name="elastic_band_param_path"/>
+  <arg name="trajectory_point_fixer_param_path"/>
+  <arg name="trajectory_extender_param_path"/>
+  <arg name="trajectory_spline_smoother_param_path"/>
+  <arg name="trajectory_qp_smoother_param_path"/>
+  <arg name="trajectory_velocity_optimizer_param_path"/>
+  <arg name="trajectory_kinematic_feasibility_enforcer_param_path"/>
+  <arg name="trajectory_mpt_optimizer_param_path"/>
+
+  <node pkg="demo_nodes_cpp" exec="parameter_blackboard" name="velocity_smoother" namespace="/planning/scenario_planning" output="screen">
+    <param name="max_velocity" value="16.6"/>
+  </node>
+
+  <!-- trajectory generator -->
+  <group>
+    <push-ros-namespace namespace="trajectory_generator"/>
+    <!-- neural network based planning module -->
+    <group>
+      <push-ros-namespace namespace="neural_network_based_planner"/>
+      <include file="$(find-pkg-share autoware_diffusion_planner)/launch/diffusion_planner.launch.xml">
+        <arg name="diffusion_planner_param_path" value="$(var diffusion_planner_param_path)"/>
+        <arg name="input_odometry" value="/localization/kinematic_state"/>
+        <arg name="input_acceleration" value="/localization/acceleration"/>
+        <arg name="input_route" value="/planning/mission_planning/route"/>
+        <arg name="input_traffic_signals" value="/perception/traffic_light_recognition/traffic_signals"/>
+        <arg name="input_tracked_objects" value="/perception/object_recognition/tracking/objects"/>
+        <arg name="input_vector_map" value="/map/vector_map"/>
+        <arg name="input_turn_indicators" value="/vehicle/status/turn_indicators_status"/>
+        <arg name="debug/output_traffic_signal" value="/planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal"/>
+        <arg name="output_trajectories" value="/planning/generator/diffusion_planner/candidate_trajectories"/>
+        <arg name="output_turn_indicators" value="/planning/turn_indicators_cmd"/>
+      </include>
+      <include file="$(find-pkg-share autoware_trajectory_modifier)/launch/trajectory_modifier.launch.xml">
+        <arg name="trajectory_modifier_param_path" value="$(var trajectory_modifier_param_path)"/>
+        <arg name="input_candidate_trajectories" value="/planning/generator/diffusion_planner/candidate_trajectories"/>
+        <arg name="output_candidate_trajectories" value="/planning/generator/diffusion_planner/modified_candidate_trajectories"/>
+        <arg name="input_odometry" value="/localization/kinematic_state"/>
+        <arg name="input_acceleration" value="/localization/acceleration"/>
+        <arg name="input_objects_topic_name" value="/perception/object_recognition/objects"/>
+        <arg name="input_pointcloud_topic_name" value="/perception/obstacle_segmentation/pointcloud"/>
+      </include>
+      <include file="$(find-pkg-share autoware_trajectory_optimizer)/launch/trajectory_optimizer.launch.xml">
+        <arg name="trajectory_optimizer_param_path" value="$(var trajectory_optimizer_param_path)"/>
+        <arg name="input_trajectories" value="/planning/generator/diffusion_planner/modified_candidate_trajectories"/>
+        <arg name="output_traj" value="/planning/trajectory_generator/trajectory"/>
+        <arg name="output_trajectories" value="/planning/generator/candidate_trajectories"/>
+        <arg name="jerk_filtered_smoother_param_path" value="$(var jerk_filtered_smoother_param_path)"/>
+        <arg name="velocity_smoother_param_path" value="$(var velocity_smoother_param_path)"/>
+        <arg name="common_smoother_param_path" value="$(var common_smoother_param_path)"/>
+        <arg name="elastic_band_param_path" value="$(var elastic_band_param_path)"/>
+        <arg name="trajectory_point_fixer_param_path" value="$(var trajectory_point_fixer_param_path)"/>
+        <arg name="trajectory_extender_param_path" value="$(var trajectory_extender_param_path)"/>
+        <arg name="trajectory_spline_smoother_param_path" value="$(var trajectory_spline_smoother_param_path)"/>
+        <arg name="trajectory_qp_smoother_param_path" value="$(var trajectory_qp_smoother_param_path)"/>
+        <arg name="trajectory_velocity_optimizer_param_path" value="$(var trajectory_velocity_optimizer_param_path)"/>
+        <arg name="trajectory_kinematic_feasibility_enforcer_param_path" value="$(var trajectory_kinematic_feasibility_enforcer_param_path)"/>
+        <arg name="trajectory_mpt_optimizer_param_path" value="$(var trajectory_mpt_optimizer_param_path)"/>
+      </include>
+    </group>
+  </group>
+  <group>
+    <push-ros-namespace namespace="trajectory_selector"/>
+    <!-- TODO: Select a trajectory from candidate trajectories and publish it to planning_validator -->
+  </group>
+</launch>
diff --git a/tier4_universe_launch/tier4_planning_launch/launch/planning.launch.xml b/tier4_universe_launch/tier4_planning_launch/launch/planning.launch.xml
index a1c14eea9f..c50d1678a5 100644
--- a/tier4_universe_launch/tier4_planning_launch/launch/planning.launch.xml
+++ b/tier4_universe_launch/tier4_planning_launch/launch/planning.launch.xml
@@ -37,7 +37,7 @@
     </group>
 
     <!-- scenario planning module -->
-    <group>
+    <group if="$(eval &quot;'$(var planning_setting)'=='rule_based'&quot;)">
       <push-ros-namespace namespace="scenario_planning"/>
       <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
         <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
@@ -47,11 +47,36 @@
       </include>
     </group>
 
+    <!-- diffusion planner module -->
+    <group if="$(eval &quot;'$(var planning_setting)'=='diffusion_planner'&quot;)">
+      <include file="$(find-pkg-share tier4_planning_launch)/launch/learning_based_planning/diffusion_planner.launch.xml">
+        <arg name="is_simulation" value="$(var is_simulation)"/>
+        <arg name="input_objects_topic_name" value="$(var input_objects_topic_name)"/>
+        <arg name="input_pointcloud_topic_name" value="$(var input_pointcloud_topic_name)"/>
+        <arg name="diffusion_planner_param_path" value="$(var diffusion_planner_param_path)"/>
+        <arg name="trajectory_modifier_param_path" value="$(var trajectory_modifier_param_path)"/>
+        <arg name="trajectory_optimizer_param_path" value="$(var trajectory_optimizer_param_path)"/>
+        <arg name="jerk_filtered_smoother_param_path" value="$(var jerk_filtered_smoother_param_path)"/>
+        <arg name="velocity_smoother_param_path" value="$(var velocity_smoother_param_path)"/>
+        <arg name="common_smoother_param_path" value="$(var common_smoother_param_path)"/>
+        <arg name="elastic_band_param_path" value="$(var elastic_band_param_path)"/>
+        <arg name="trajectory_point_fixer_param_path" value="$(var trajectory_point_fixer_param_path)"/>
+        <arg name="trajectory_extender_param_path" value="$(var trajectory_extender_param_path)"/>
+        <arg name="trajectory_spline_smoother_param_path" value="$(var trajectory_spline_smoother_param_path)"/>
+        <arg name="trajectory_qp_smoother_param_path" value="$(var trajectory_qp_smoother_param_path)"/>
+        <arg name="trajectory_velocity_optimizer_param_path" value="$(var trajectory_velocity_optimizer_param_path)"/>
+        <arg name="trajectory_kinematic_feasibility_enforcer_param_path" value="$(var trajectory_kinematic_feasibility_enforcer_param_path)"/>
+        <arg name="trajectory_mpt_optimizer_param_path" value="$(var trajectory_mpt_optimizer_param_path)"/>
+      </include>
+    </group>
+
     <!-- planning validator -->
     <group>
+      <let name="validator_input_trajectory" value="/planning/trajectory_generator/trajectory" if="$(eval &quot;'$(var planning_setting)'=='diffusion_planner'&quot;)"/>
+      <let name="validator_input_trajectory" value="/planning/scenario_planning/velocity_smoother/trajectory" if="$(eval &quot;'$(var planning_setting)'=='rule_based'&quot;)"/>
       <include file="$(find-pkg-share autoware_planning_validator)/launch/planning_validator.launch.xml">
         <arg name="container_type" value="component_container_mt"/>
-        <arg name="input_trajectory" value="/planning/scenario_planning/velocity_smoother/trajectory"/>
+        <arg name="input_trajectory_topic_name" value="$(var validator_input_trajectory)"/>
         <arg name="output_trajectory" value="/planning/trajectory"/>
         <arg name="input_objects_topic_name" value="$(var input_objects_topic_name)"/>
         <arg name="input_pointcloud_topic_name" value="$(var input_pointcloud_topic_name)"/>
@@ -65,7 +90,28 @@
 
     <!-- planning evaluator -->
     <group>
-      <include file="$(find-pkg-share autoware_planning_evaluator)/launch/planning_evaluator.launch.xml"/>
+      <let
+        name="evaluator_input_reference_trajectory"
+        value="/planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/output/trajectory"
+        if="$(eval &quot;'$(var planning_setting)'=='diffusion_planner'&quot;)"
+      />
+      <let
+        name="evaluator_input_reference_trajectory"
+        value="/planning/scenario_planning/lane_driving/motion_planning/path_optimizer/trajectory"
+        if="$(eval &quot;'$(var planning_setting)'=='rule_based'&quot;)"
+      />
+
+      <let
+        name="evaluator_input_objects"
+        value="/planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/output/predicted_objects"
+        if="$(eval &quot;'$(var planning_setting)'=='diffusion_planner'&quot;)"
+      />
+      <let name="evaluator_input_objects" value="/perception/object_recognition/objects" if="$(eval &quot;'$(var planning_setting)'=='rule_based'&quot;)"/>
+
+      <include file="$(find-pkg-share autoware_planning_evaluator)/launch/planning_evaluator.launch.xml">
+        <arg name="input/reference_trajectory" value="$(var evaluator_input_reference_trajectory)"/>
+        <arg name="input/objects" value="$(var evaluator_input_objects)"/>
+      </include>
     </group>
 
     <!-- mission remaining distance and time calculator -->