nuPlan
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Closed-loop Planning | nuPlan 14 (val) | NR Score94.81 | 66 | |
| Closed-loop planning | nuPlan 14-hard (test) | NR85.96 | 64 | |
| Closed-loop planning | nuPlan 14 (test) | NR95.02 | 45 | |
| Planning | nuPlan 14 Random (test) | CLS-NR0.948 | 40 | |
| Closed-loop Planning | nuPlan random 14 (test) | NR94.03 | 25 | |
| Planning | nuPlan 14 Hard (test) | CLS-NR86 | 23 | |
| Pointmap Estimation | NuPlan subsampled (test) | AbsRel0.118 | 15 | |
| Planning | nuPlan interPlanLC | CLS-R84.53 | 12 | |
| Planning | nuPlan 14 (val) | CLS-NR92.84 | 12 | |
| Motion Planning | nuPlan 14-hard (test) | CLS-SR75.72 | 11 | |
| Motion Planning | nuPlan (val14) | CLS-SR89.44 | 11 | |
| Trajectory Planning | NuPlan 14 (val) | Score91.83 | 11 | |
| Trajectory Planning | NuPlan 14 (test) | Score91.76 | 11 | |
| Closed-loop Planning | nuPlan (val14) | CA98.7 | 11 | |
| Planning | nuPlan interPlan | CLS-R60.05 | 10 | |
| Trajectory Prediction | nuPlan zero-shot (test) | minADE0.72 | 9 | |
| Open-loop planning | nuPlan 14 (val) | OLS100 | 9 | |
| Agent Simulation | nuPlan (test) | CLS-SR0.847 | 8 | |
| Goal-conditioned controllable scene generation | nuPlan | Distributional JSD (L-Dev.)0.244 | 8 | |
| Driving Performance | nuPlan 14-hard (test) | R Score83.18 | 7 | |
| Driving Performance | nuPlan 14 (val) | R Score93.15 | 7 | |
| Initial Scene Generation | nuPlan | Positional Error0 | 7 | |
| Closed-loop Planning | nuPlan Test14-Inter | Collision Avoidance100 | 7 | |
| World Model Prediction | nuPlan | PSNR21.7 | 6 | |
| Motion Planning | nuPlan | Score78.52 | 6 |
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