NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles

Understand

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.