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

arXiv:2403.04133v1 Announce Type: new
Abstract: Machine Learning (ML) has replaced traditional 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 make safe and efficient decisions. To that end, we introduce a new large-scale dataset that consists …

abstract adoption arxiv autonomous autonomous driving autonomous vehicles benchmark cs.cv cs.ro dataset driving machine machine learning perception planning prediction type vehicles world