Towards learning-based planning: The nuPlan benchmark for real-world autonomous driving

Napat Karnchanachari,Dimitris Geromichalos,Kok Seang Tan,Nanxiang Li,Christopher Eriksen,Shakiba Yaghoubi,Noushin Mehdipour,Gianmarco Bernasconi,Whye Kit Fong,Yiluan Guo,Holger Caesar,Napat Karnchanachari,Dimitris Geromichalos,Kok Seang Tan,Nanxiang Li,Christopher Eriksen,Shakiba Yaghoubi,Noushin Mehdipour,Gianmarco Bernasconi,Whye Kit Fong,Yiluan Guo,Holger Caesar

Machine Learning (ML) has replaced handcrafted methods for perception and prediction in autonomous vehicles. Yet for the equally important planning task, the adoption of ML-based techniques is slow. We present nuPlan, the world’s first real-world autonomous driving dataset and benchmark. The benchmark is designed to test the ability of ML-based planners to handle diverse driving situations and to ...