Closed-loop Planning on nuPlan (rare) benchmark leaderboard · SOTA2 Research

Closed-loop Planning on nuPlan (rare)

88.89Success Rate (SR)World Engine

Evaluation Results

Method
World Engine2026.06	88.89	47.66	70.12
post-training on rare synthetic replays2026.06	87.2	32.49	63.22
post-training on rare rollouts w/o Behaviour WM2026.06	77.96	56.74	67.33
supervised fine-tuning on rare logs2026.06	74.51	47.59	61.87
base model2026.06	73.66	46.71	60.98
post-training on rare logs2026.06	73.35	51.86	62.78
post-training on common logs2026.06	69.63	51.02	60.21