NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles. (arXiv:2106.11810v4 [cs.CV] UPDATED)

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 …

arxiv autonomous autonomous vehicles cv ml