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Closed-loop motion planning research benchmarks · SOTA2 Research

Closed-loop motion planning

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

nuPlan 14-Hard (test)

85.96NR-CLS

31

Jun 9, 2026

1.11Offroad Rate (OR)

9

Jun 11, 2026

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

10.29Collision Rate

7

Mar 12, 2026

WOMD closed-loop (test)

Sample-Conditioned Differentiable Planning Framework

0.72Acceleration Error (m/s^2)

6

Jun 4, 2026

nuPlan steps over 25,000 (evaluation)

100Feasibility

2

May 12, 2026

Popular datasets

nuPlan WOMD Waymax

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