{"work":{"id":"b16aace6-deff-4546-b333-bcb7c9c07cdb","openalex_id":null,"doi":null,"arxiv_id":"2106.11810","raw_key":null,"title":"NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles","authors":null,"authors_text":"Holger Caesar, Juraj Kabzan, Kok Seang Tan, Whye Kit Fong, Eric Wolff, Alex Lang","year":2021,"venue":"cs.CV","abstract":"In this work, we propose the world's first closed-loop ML-based planning benchmark for autonomous driving. While there is a growing body of ML-based motion planners, the lack of established datasets and metrics has limited the progress in this area. Existing benchmarks for autonomous vehicle motion prediction have focused on short-term motion forecasting, rather than long-term planning. This has led previous works to use open-loop evaluation with L2-based metrics, which are not suitable for fairly evaluating long-term planning. Our benchmark overcomes these limitations by introducing a large-scale driving dataset, lightweight closed-loop simulator, and motion-planning-specific metrics. We provide a high-quality dataset with 1500h of human driving data from 4 cities across the US and Asia with widely varying traffic patterns (Boston, Pittsburgh, Las Vegas and Singapore). We will provide a closed-loop simulation framework with reactive agents and provide a large set of both general and scenario-specific planning metrics. We plan to release the dataset at NeurIPS 2021 and organize benchmark challenges starting in early 2022.","external_url":"https://arxiv.org/abs/2106.11810","cited_by_count":null,"metadata_source":"pith","metadata_fetched_at":"2026-06-29T22:04:00.210939+00:00","pith_arxiv_id":"2106.11810","created_at":"2026-05-10T13:30:26.396732+00:00","updated_at":"2026-06-29T22:04:00.210939+00:00","title_quality_ok":true,"display_title":"NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles","render_title":"NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles"},"hub":{"state":{"work_id":"b16aace6-deff-4546-b333-bcb7c9c07cdb","tier":"hub","tier_reason":"10+ Pith inbound or 1,000+ external citations","pith_inbound_count":35,"external_cited_by_count":null,"distinct_field_count":5,"first_pith_cited_at":"2024-06-11T06:18:26+00:00","last_pith_cited_at":"2026-05-28T10:04:02+00:00","author_build_status":"not_needed","summary_status":"needed","contexts_status":"needed","graph_status":"needed","ask_index_status":"not_needed","reader_status":"not_needed","recognition_status":"not_needed","updated_at":"2026-06-29T22:39:25.514245+00:00","tier_text":"hub"},"tier":"hub","role_counts":[{"context_role":"dataset","n":8},{"context_role":"background","n":3},{"context_role":"baseline","n":1}],"polarity_counts":[{"context_polarity":"use_dataset","n":8},{"context_polarity":"background","n":3},{"context_polarity":"baseline","n":1}],"runs":{},"summary":{},"graph":{},"authors":[]}}