{"work":{"id":"f98d2235-a4eb-4867-8a68-6d0af35e4bfb","openalex_id":null,"doi":null,"arxiv_id":"2404.14327","raw_key":null,"title":"PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Driving","authors":null,"authors_text":"J","year":2024,"venue":"cs.RO","abstract":"We present PLUTO, a powerful framework that pushes the limit of imitation learning-based planning for autonomous driving. Our improvements stem from three pivotal aspects: a longitudinal-lateral aware model architecture that enables flexible and diverse driving behaviors; An innovative auxiliary loss computation method that is broadly applicable and efficient for batch-wise calculation; A novel training framework that leverages contrastive learning, augmented by a suite of new data augmentations to regulate driving behaviors and facilitate the understanding of underlying interactions. We assessed our framework using the large-scale real-world nuPlan dataset and its associated standardized planning benchmark. Impressively, PLUTO achieves state-of-the-art closed-loop performance, beating other competing learning-based methods and surpassing the current top-performed rule-based planner for the first time. Results and code are available at https://jchengai.github.io/pluto.","external_url":"https://arxiv.org/abs/2404.14327","cited_by_count":null,"metadata_source":"pith","metadata_fetched_at":"2026-07-10T16:57:24.447757+00:00","pith_arxiv_id":"2404.14327","created_at":"2026-05-10T13:30:26.391443+00:00","updated_at":"2026-07-10T16:57:24.447757+00:00","title_quality_ok":true,"display_title":"Pluto: Pushing the limit of imitation learning- based planning for autonomous driving.ArXiv, abs/2404.14327","render_title":"Pluto: Pushing the limit of imitation learning- based planning for autonomous driving.ArXiv, abs/2404.14327"},"hub":{"state":{"work_id":"f98d2235-a4eb-4867-8a68-6d0af35e4bfb","tier":"hub","tier_reason":"10+ Pith inbound or 1,000+ external citations","pith_inbound_count":15,"external_cited_by_count":null,"distinct_field_count":2,"first_pith_cited_at":"2026-01-05T03:41:20+00:00","last_pith_cited_at":"2026-07-08T18:23:48+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":"2026-08-15T05:29:57.549586+00:00","tier_text":"hub"},"tier":"hub","role_counts":[],"polarity_counts":[],"runs":{},"summary":{},"graph":{},"authors":[]}}