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Papers Benchmarks Datasets Tasks

nuPlan dataset and benchmarks – Page 3 · SOTA2 Research

Research Datasets

nuPlan

Benchmarks

Task NameDataset NameSOTA MethodSort

Task NameDataset NameSOTA ResultTrendResults

Closed-loop Planning

nuPlan

4.51Latency (ms)

6

Interactive Generation

nuPlan-SimGen (val)

18.37FID

5

Anomaly Detection

nuPlan mini (1,322 scenarios)

65.2Precision@5%

5

Global Image Editing

nuPlan

0.103L1 Error

5

Fine-grained Image Editing (Crop)

nuPlan

0.073L1 Error

5

Fine-grained Image Editing (Full Image)

nuPlan

0.03L1 Error

5

Closed-loop planning

nuPlan (test)

86.94NR Success Rate

5

Open-loop Evaluation

NuPlan 4k (test)

1.3938s ADE

5

Open-loop Evaluation

NuPlan 4k (val)

1.2028sADE

5

Safety-critical scenario generation

nuPlan

59CR

5

Scenario Generation

nuPlan (test)

0.676Realism Score

5

Closed-loop simulation

nuPlan

42.1Collision Rate (%)

4

LiDAR Generation

Nuplan mini (val)

0.457MMD

4

Trajectory Planning

nuPlan

99Throughput (FPS)

4

Trajectory Planning

nuPlan Mini (val14)

98.08NR

4

Controllable Video Generation

NuPlan (test)

0.993Global Control CCS

4

Autonomous Driving Evaluation

nuPlan Generated safety-critical scenarios

50Collision Rate (%)

4

Autonomous Driving Evaluation

nuPlan Original scenarios

8.3CR

4

Closed-loop Autonomous Driving

nuPlan (test)

69.66Overall Score

4

Lane graph generation

nuPlan (test)

0.67FD

4

Initial agent bounding box generation

nuPlan (test)

0.09Near Distance

4

HD Map Generation

nuPlan (test)

54.53Connectivity

3

Autonomous Driving Planning

nuPlan 14-Hard (test)

85.96Score

3

Autonomous Driving Planning

nuPlan (val14)

94Score

3

Autonomous Driving

nuPlan

98.62Reward

3

Page 3 of 4

Popular tasks

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

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