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Papers Benchmarks Datasets Tasks

nuPlan dataset and benchmarks – Page 2 · SOTA2 Research

Research Datasets

nuPlan

Benchmarks

Task NameDataset NameSOTA MethodSort

Task NameDataset NameSOTA ResultTrendResults

Motion Planning

nuPlan (val14)

93.53NR Success Rate

12

nuPlan interPlanLC

84.53CLS-R

12

Initial Scene Generation

nuPlan

0Positional Error

12

Motion Planning

nuPlan 14 (val)

93.98CLS-R

11

Trajectory Planning

NuPlan 14 (test)

91.76Score

11

nuPlan interPlan

60.05CLS-R

10

Motion Planning

nuPlan Hard20 (test)

67.28Score

9

Trajectory Prediction

nuPlan zero-shot (test)

0.72minADE

9

Open-loop planning

nuPlan 14 (val)

100OLS

9

open-loop planning

nuPlan (test)

0.298ADE (8s)

8

Trajectory Prediction

nuPlan

0.591mADE

8

Agent Simulation

nuPlan (test)

0.847CLS-SR

8

Goal-conditioned controllable scene generation

nuPlan

0.244Distributional JSD (L-Dev.)

8

Video Generation

Nuplan

55.6FVD

8

Closed-loop Planning

nuPlan (rare)

88.89Success Rate (SR)

7

Open-loop Planning

nuPlan (rare)

62.69PDMS

7

Open-loop Planning

nuPlan common

88.95PDMS

7

Closed-loop motion planning

nuPlan all-collision challenge set 68-scenario subset 14 (val)

10.29Collision Rate

7

Driving Performance

nuPlan 14-hard (test)

83.18R Score

7

Driving Performance

nuPlan 14 (val)

93.15R Score

7

Closed-loop Planning

nuPlan Test14-Inter

100Collision Avoidance

7

Controllable Autonomous Driving World Modeling

nuPlan (val)

9.51FID

6

Open-loop Evaluation

NuPlan 14 (val)

1.3118s ADE

6

World Model Prediction

nuPlan

21.7PSNR

6

Motion Planning

nuPlan

78.52Score

6

Page 2 of 4

Popular tasks

Closed-loop Planning Planning Trajectory Planning Motion Planning Autonomous Driving Planning

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