{"id":"https://openalex.org/W4401416944","doi":"https://doi.org/10.1109/icra57147.2024.10610077","title":"Towards learning-based planning: The nuPlan benchmark for real-world autonomous driving","display_name":"Towards learning-based planning: The nuPlan benchmark for real-world autonomous driving","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416944","doi":"https://doi.org/10.1109/icra57147.2024.10610077"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610077","doi":"https://doi.org/10.1109/icra57147.2024.10610077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610077","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.04133","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011023402","display_name":"Napat Karnchanachari","orcid":"https://orcid.org/0000-0001-6781-8841","observed_orcids":["https://orcid.org/0000-0001-6781-8841"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Napat Karnchanachari","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094105656","display_name":"Dimitris Geromichalos","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dimitris Geromichalos","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055290508","display_name":"Kok Seang Tan","orcid":"https://orcid.org/0000-0003-4172-8519","observed_orcids":["https://orcid.org/0000-0003-4172-8519"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kok Seang Tan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068935138","display_name":"Nanxiang Li","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nanxiang Li","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043096248","display_name":"Christopher Eriksen","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Christopher Eriksen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112272179","display_name":"Shakiba Yaghoubi","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shakiba Yaghoubi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057959618","display_name":"Noushin Mehdipour","orcid":"https://orcid.org/0000-0002-6537-5626","observed_orcids":["https://orcid.org/0000-0002-6537-5626"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Noushin Mehdipour","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038503162","display_name":"Gianmarco Bernasconi","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gianmarco Bernasconi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058607874","display_name":"Whye Kit Fong","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Whye Kit Fong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037416485","display_name":"Yiluan Guo","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yiluan Guo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5001917215","display_name":"Holger Caesar","orcid":"https://orcid.org/0000-0001-5099-6297","observed_orcids":["https://orcid.org/0000-0001-5099-6297"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Holger Caesar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":34.1839,"has_fulltext":true,"cited_by_count":85,"citation_normalized_percentile":{"value":0.9975906,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"629","last_page":"636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0008999999845400453,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.9229999780654907},{"id":"https://openalex.org/keywords/learning-based-planning","display_name":"learning-based planning","score":0.7210000157356262},{"id":"https://openalex.org/keywords/planning-benchmarks","display_name":"planning benchmarks","score":0.49900001287460327},{"id":"https://openalex.org/keywords/driving-scenarios","display_name":"driving scenarios","score":0.6269999742507935},{"id":"https://openalex.org/keywords/object-tracking","display_name":"object tracking","score":0.8270000219345093},{"id":"https://openalex.org/keywords/closed-loop-simulation","display_name":"closed-loop simulation","score":0.9010000228881836},{"id":"https://openalex.org/keywords/multi-agent-interaction","display_name":"multi-agent interaction","score":0.5519999861717224},{"id":"https://openalex.org/keywords/real-world-driving-data","display_name":"real-world driving data","score":0.4230000078678131}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7053711414337158},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6316708326339722},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4600607454776764},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33472198247909546},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08436882495880127},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra57147.2024.10610077","doi":"https://doi.org/10.1109/icra57147.2024.10610077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610077","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2403.04133","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.04133","pdf_url":"https://arxiv.org/pdf/2403.04133","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2403.04133","doi":"https://doi.org/10.48550/arxiv.2403.04133","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2403.04133","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2403.04133","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.04133","pdf_url":"https://arxiv.org/pdf/2403.04133","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7250000238418579}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401416944.pdf","grobid_xml":"https://content.openalex.org/works/W4401416944.grobid-xml"},"referenced_works_count":83,"referenced_works":["https://openalex.org/W1481356306","https://openalex.org/W1929981607","https://openalex.org/W1965455100","https://openalex.org/W1999874108","https://openalex.org/W2044340973","https://openalex.org/W2098774185","https://openalex.org/W2141664020","https://openalex.org/W2144304287","https://openalex.org/W2155098712","https://openalex.org/W2167108407","https://openalex.org/W2219970372","https://openalex.org/W2268617045","https://openalex.org/W2342840547","https://openalex.org/W2343568200","https://openalex.org/W2434014514","https://openalex.org/W2505763307","https://openalex.org/W2530849036","https://openalex.org/W2615547864","https://openalex.org/W2740508249","https://openalex.org/W2767621168","https://openalex.org/W2793753444","https://openalex.org/W2799017078","https://openalex.org/W2808278079","https://openalex.org/W2810677299","https://openalex.org/W2884634491","https://openalex.org/W2896642734","https://openalex.org/W2905076052","https://openalex.org/W2905173465","https://openalex.org/W2925148167","https://openalex.org/W2937051932","https://openalex.org/W2955189650","https://openalex.org/W2963727135","https://openalex.org/W2968008415","https://openalex.org/W2980087597","https://openalex.org/W2980133010","https://openalex.org/W2986160079","https://openalex.org/W2989704640","https://openalex.org/W2989996808","https://openalex.org/W2990881695","https://openalex.org/W2996998055","https://openalex.org/W3016265891","https://openalex.org/W3037058446","https://openalex.org/W3043102062","https://openalex.org/W3048966129","https://openalex.org/W3097323743","https://openalex.org/W3108486966","https://openalex.org/W3112667348","https://openalex.org/W3114861672","https://openalex.org/W3125926538","https://openalex.org/W3134438579","https://openalex.org/W3145799606","https://openalex.org/W3156216502","https://openalex.org/W3157529972","https://openalex.org/W3167095230","https://openalex.org/W3180750393","https://openalex.org/W3198277841","https://openalex.org/W3198460218","https://openalex.org/W3200386541","https://openalex.org/W3202707544","https://openalex.org/W3203018838","https://openalex.org/W3203076355","https://openalex.org/W3204875639","https://openalex.org/W3205401901","https://openalex.org/W3211382623","https://openalex.org/W4224047448","https://openalex.org/W4285102474","https://openalex.org/W4285813063","https://openalex.org/W4293682399","https://openalex.org/W4308080967","https://openalex.org/W4312396550","https://openalex.org/W4380715592","https://openalex.org/W4382603059","https://openalex.org/W4383108532","https://openalex.org/W4386066615","https://openalex.org/W4386076400","https://openalex.org/W4390871698","https://openalex.org/W4391768851","https://openalex.org/W6674884181","https://openalex.org/W6684338915","https://openalex.org/W6801880476","https://openalex.org/W6854286043","https://openalex.org/W6960125083","https://openalex.org/W7133208528"],"related_works":["https://openalex.org/W3176012696","https://openalex.org/W4405786382","https://openalex.org/W4413944819","https://openalex.org/W4413156825","https://openalex.org/W4390529036","https://openalex.org/W4395065796","https://openalex.org/W7136133084","https://openalex.org/W4377121563","https://openalex.org/W4383108532","https://openalex.org/W7082154872"],"abstract_inverted_index":{"Machine":[0],"Learning":[1],"(ML)":[2],"has":[3],"replaced":[4],"handcrafted":[5],"methods":[6],"for":[7,15,145],"perception":[8],"and":[9,38,56,60,85,87,93,99,118,130,159,164,171],"prediction":[10],"in":[11,141],"autonomous":[12,35],"vehicles.":[13],"Yet":[14],"the":[16,21,31,46,116,124,168],"equally":[17],"important":[18],"planning":[19],"task,":[20],"adoption":[22],"of":[23,48,71,74,120,156],"ML-based":[24,49,163],"techniques":[25],"is":[26,42],"slow.":[27],"We":[28,63,97,151],"present":[29,152],"nuPlan,":[30],"world\u2019s":[32],"first":[33],"real-world":[34],"driving":[36,54,76,104],"dataset":[37,68,170],"benchmark.":[39],"The":[40],"benchmark":[41],"designed":[43],"to":[44,51,57,111,138,143],"test":[45],"ability":[47],"planners":[50],"handle":[52],"diverse":[53,75],"situations":[55],"make":[58],"safe":[59],"efficient":[61],"decisions.":[62],"introduce":[64],"a":[65,121,128,135,153],"new":[66],"large-scale":[67],"that":[69,133],"consists":[70],"1282":[72],"hours":[73],"scenarios":[77,105],"from":[78],"4":[79],"cities":[80],"(Las":[81],"Vegas,":[82],"Boston,":[83],"Pittsburgh,":[84],"Singapore)":[86],"includes":[88],"high-quality":[89],"auto-labeled":[90],"object":[91],"tracks":[92],"traffic":[94,149],"light":[95],"data.":[96],"mine":[98],"taxonomize":[100],"common":[101],"&":[102],"rare":[103],"which":[106],"are":[107],"used":[108],"during":[109],"evaluation":[110,131],"get":[112],"fine-grained":[113],"insights":[114],"into":[115],"performance":[117],"characteristics":[119],"planner.":[122],"Beyond":[123],"dataset,":[125],"we":[126],"provide":[127],"simulation":[129],"framework":[132],"enables":[134],"planner\u2019s":[136],"actions":[137],"be":[139],"simulated":[140],"closed-loop":[142],"account":[144],"interactions":[146],"with":[147],"other":[148],"participants.":[150],"detailed":[154],"analysis":[155],"numerous":[157],"baselines":[158],"investigate":[160],"gaps":[161],"between":[162],"traditional":[165],"methods.":[166],"Find":[167],"nuPlan":[169],"code":[172],"at":[173],"nuplan.org.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":46},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":9}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2024-08-09T00:00:00"}