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

22 June 2021

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

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Title
QueryOcc: Query-based Self-Supervision for 3D Semantic Occupancy Adam Lilja Ji Lan Junsheng Fu Lars Hammarstrand 3DPC 133 0 0 21 Nov 2025
DAP: A Discrete-token Autoregressive Planner for Autonomous Driving Bowen Ye Bin Zhang Hang Zhao 130 0 0 17 Nov 2025
nuPlan-R: A Closed-Loop Planning Benchmark for Autonomous Driving via Reactive Multi-Agent Simulation Mingxing Peng Ruoyu Yao Xusen Guo Jun Ma 236 0 0 13 Nov 2025
Prioritizing Perception-Guided Self-Supervision: A New Paradigm for Causal Modeling in End-to-End Autonomous Driving Yi Huang Z. Qu Lihui Jiang Bingbing Liu Hongbo Zhang 48 1 0 11 Nov 2025
PlanT 2.0: Exposing Biases and Structural Flaws in Closed-Loop Driving Simon Gerstenecker Andreas Geiger Katrin Renz 129 0 0 10 Nov 2025
Dynamic Model Selection for Trajectory Prediction via Pairwise Ranking and Meta-Features Lu Bowen 152 0 0 31 Oct 2025
WOD-E2E: Waymo Open Dataset for End-to-End Driving in Challenging Long-tail Scenarios Runsheng Xu Hubert Lin Wonseok Jeon Hao Feng Yuliang Zou ... Brandyn White Ben Sapp Mingxing Tan Jyh-Jing Hwang Drago Anguelov 203 8 0 30 Oct 2025
ZTRS: Zero-Imitation End-to-end Autonomous Driving with Trajectory Scoring Zhenxin Li Wenhao Yao Zi Wang Xinglong Sun Jingde Chen ... Maying Shen Jingyu Song Zuxuan Wu Shiyi Lan Jose M. Alvarez 96 1 0 28 Oct 2025
UniPlanner: A Unified Motion Planning Framework for Autonomous Vehicle Decision-Making Systems via Multi-Dataset Integration Xin Yang Y. Zhang Wei Li Xin Lin Wenbin Zou Chen Xu 48 0 0 28 Oct 2025
Scaling Up Occupancy-centric Driving Scene Generation: Dataset and Method Bohan Li Xin Jin Hu Zhu Hongsi Liu Ruikai Li ... Chao Ma Yueming Jin Hao Zhao Xiaokang Yang Wenjun Zeng 109 0 0 27 Oct 2025
Towards Physics-informed Spatial Intelligence with Human Priors: An Autonomous Driving Pilot Study Guanlin Wu Boyan Su Yang Zhao Pu Wang Yichen Lin Hao Frank Yang 84 0 0 24 Oct 2025
A Comprehensive Survey on World Models for Embodied AI Xinqing Li Xin He Le Zhang Yun-Hai Liu Xiaoli Li Yun Liu VGen LM&Ro SyDa 176 2 0 19 Oct 2025
Perfect Prediction or Plenty of Proposals? What Matters Most in Planning for Autonomous Driving Aron Distelzweig Faris Janjoš Oliver Scheel Sirish Reddy Varra Raghu Rajan Joschka Boedecker 84 1 0 17 Oct 2025
UrbanVerse: Scaling Urban Simulation by Watching City-Tour Videos Mingxuan Liu Honglin He Elisa Ricci Wayne Wu Bolei Zhou VGen 84 0 0 16 Oct 2025
DriveCritic: Towards Context-Aware, Human-Aligned Evaluation for Autonomous Driving with Vision-Language Models Jingyu Song Zhenxin Li Shiyi Lan Xinglong Sun Nadine Chang Maying Shen Joshua Chen Katherine A. Skinner Jose M. Alvarez 64 0 0 15 Oct 2025
DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving Yingyan Li Shuyao Shang Weisong Liu Bing Zhan Haochen Wang ... Yasong An Chufeng Tang Lu Hou Lue Fan Zhaoxiang Zhang VLM 85 4 0 14 Oct 2025
HYPE: Hybrid Planning with Ego Proposal-Conditioned Predictions Hang Yu Julian Jordan Julian Schmidt Silvan Lindner Alessandro Canevaro Wilhelm Stork 73 1 0 14 Oct 2025
Flow Matching-Based Autonomous Driving Planning with Advanced Interactive Behavior Modeling Tianyi Tan Yinan Zheng Ruiming Liang Zexu Wang Kexin Zheng Jinliang Zheng Jianxiong Li Xianyuan Zhan Jingjing Liu 64 3 0 13 Oct 2025
Align2Act: Instruction-Tuned Models for Human-Aligned Autonomous Driving Kanishkha Jaisankar Sunidhi Tandel 60 0 0 12 Oct 2025
Aligning Perception, Reasoning, Modeling and Interaction: A Survey on Physical AI Kun Xiang Terry Jingchen Zhang Yinya Huang Jixi He Zirong Liu ... J. N. Han Hang Xu Han Li Bin Dong Xiaodan Liang PINN AI4CE 264 1 0 06 Oct 2025
RAP: 3D Rasterization Augmented End-to-End Planning Lan Feng Yang Gao Éloi Zablocki Quanyi Li W. Li Sichao Liu Matthieu Cord Alexandre Alahi 156 3 0 05 Oct 2025
What Did I Learn? Operational Competence Assessment for AI-Based Trajectory Planners Michiel Braat Maren Buermann Marijke van Weperen Jan-Pieter Paardekooper 49 0 0 01 Oct 2025
Self-driving cars: Are we there yet? Merve Atasever Zhuochen Liu Qingpei Li Akshay Hitendra Shah Hans Walker Jyotirmoy V. Deshmukh Rahul Jain 152 0 0 26 Sep 2025
AnchDrive: Bootstrapping Diffusion Policies with Hybrid Trajectory Anchors for End-to-End Driving Jinhao Chai Anqing Jiang Hao Jiang Shiyi Mu Zichong Gu Shugong Xu Shugong Xu 183 1 0 24 Sep 2025
PIE: Perception and Interaction Enhanced End-to-End Motion Planning for Autonomous Driving Chengran Yuan Zijian Lu Zhanqi Zhang Yimin Zhao Zefan Huang ... Jiawei Sun Jiahui Li Christina Dao Wen Lee Dongen Li Marcelo H. Ang Jr 120 0 0 23 Sep 2025
The Case for Negative Data: From Crash Reports to Counterfactuals for Reasonable Driving Jay Patrikar Apoorva Sharma Sushant Veer Boyi Li Sebastian A. Scherer Marco Pavone 76 0 0 23 Sep 2025
SimCoachCorpus: A naturalistic dataset with language and trajectories for embodied teaching Emily S. Sumner Deepak Gopinath Laporsha Dees Patricio Reyes Gomez Xiongyi Cui ... Allison Morgan Mariah L. Schrum Tiffany Chen Avinash Balachandran Guy Rosman 84 0 0 18 Sep 2025
Enhancing Physical Consistency in Lightweight World Models Dingrui Wang Zhexiao Sun Zhouheng Li Cheng-i Wang Youlun Peng ... Baha Zarrouki W. Li Mattia Piccinini Lei Xie Johannes Betz 132 2 0 15 Sep 2025
Large Foundation Models for Trajectory Prediction in Autonomous Driving: A Comprehensive Survey Wei Dai Shengen Wu Wei Wu Zhenhao Wang Sisuo Lyu Haicheng Liao Limin Yu Weiping Ding Runwei Guan Yutao Yue AI4CE 153 3 0 11 Sep 2025
2nd Place Solution for CVPR2024 E2E Challenge: End-to-End Autonomous Driving Using Vision Language Model Zilong Guo Yi Luo Long Sha Dongxu Wang Panqu Wang Chenyang Xu Yi Yang 66 0 0 02 Sep 2025
Drive As You Like: Strategy-Level Motion Planning Based on A Multi-Head Diffusion Model Fan Ding Xuewen Luo Hwa Hui Tew Ruturaj Reddy Xikun Wang Junn Yong Loo DiffM 93 0 0 23 Aug 2025
DistillDrive: End-to-End Multi-Mode Autonomous Driving Distillation by Isomorphic Hetero-Source Planning Model Rui Yu Xianghang Zhang Runkai Zhao HuaiCheng Yan Meng Wang 47 3 0 07 Aug 2025
Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous DrivingIEEE International Conference on Robotics and Automation (ICRA), 2025 Hunter Schofield Mohammed Elmahgiubi K. Rezaee J. Shan 76 0 0 03 Aug 2025
DiffSemanticFusion: Semantic Raster BEV Fusion for Autonomous Driving via Online HD Map Diffusion Zhigang Sun Yiru Wang Anqing Jiang S. Wang Yu Gao ... Wang Jijun Shichen Tang Lavdim Halilaj J. Luettin Hao Sun 139 2 0 03 Aug 2025
FastDriveVLA: Efficient End-to-End Driving via Plug-and-Play Reconstruction-based Token Pruning Jiajun Cao Qizhe Zhang Peidong Jia Xuhui Zhao Bo Lan ... Yang Wang Liyun Li Xianming Liu Ming Lu Shanghang Zhang 207 6 0 31 Jul 2025
PILOT-C: Physics-Informed Low-Distortion Optimal Trajectory Compression Kefei Wu Baihua Zheng Weiwei Sun 44 0 0 30 Jul 2025
Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competition Ruiyang Hao Haibao Yu Jiaru Zhong C. Wang Jiahao Wang ... Dandan Zhang Shanghang Zhang Mac Schwager Wei Huang Xiaobo Zhang 185 5 0 29 Jul 2025
VLMPlanner: Integrating Visual Language Models with Motion Planning ZhiPeng Tang Sha Zhang Jiajun Deng Chenjie Wang Guoliang You Yuting Huang Xinrui Lin Yanyong Zhang 94 1 0 27 Jul 2025
Bridging Simulation and Usability: A User-Friendly Framework for Scenario Generation in CARLA Ahmed Abouelazm Mohammad Mahmoud Conrad Walter Oleksandr Shchetsura Erne Hussong Helen Gremmelmaier J. M. Zöllner 108 1 0 26 Jul 2025
PhysVarMix: Physics-Informed Variational Mixture Model for Multi-Modal Trajectory Prediction Haichuan Li Tomi Westerlund 103 0 0 25 Jul 2025
Diverse and Adaptive Behavior Curriculum for Autonomous Driving: A Student-Teacher Framework with Multi-Agent RL Ahmed Abouelazm Johannes Ratz Philip Schorner J. M. Zöllner 183 0 0 25 Jul 2025
DIVER: Reinforced Diffusion Breaks Imitation Bottlenecks in End-to-End Autonomous Driving Ziying Song Lin Liu Hongyu Pan Bencheng Liao Mingzhe Guo Lei Yang Y. Zhang Shaoqing Xu Caiyan Jia Yadan Luo 232 6 0 05 Jul 2025
Sim2Val: Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation Rachel Luo Heng Yang Michael Watson Apoorva Sharma Sushant Veer Edward Schmerling Marco Pavone 51 2 0 25 Jun 2025
Long-term Traffic Simulation with Interleaved Autoregressive Motion and Scenario Generation Xiuyu Yang Shuhan Tan Philipp Krahenbuhl 194 1 0 20 Jun 2025
A Hierarchical Test Platform for Vision Language Model (VLM)-Integrated Real-World Autonomous DrivingACM Transactions on Internet of Things (ACM TIOT), 2025 Yupeng Zhou Can Cui Juntong Peng Zichong Yang Juanwu Lu Jitesh Panchal Bin Yao Ziran Wang VLM 113 1 0 17 Jun 2025
ABC-FHE : A Resource-Efficient Accelerator Enabling Bootstrappable Parameters for Client-Side Fully Homomorphic EncryptionDesign Automation Conference (DAC), 2025 Sungwoong Yune Hyojeong Lee Adiwena Putra Hyunjun Cho Cuong Duong Manh Jaeho Jeon Joo-Young Kim 229 28 0 10 Jun 2025
Dreamland: Controllable World Creation with Simulator and Generative Models Sicheng Mo Ziyang Leng Leon Liu Weizhen Wang Honglin He Bolei Zhou VGen 99 1 0 09 Jun 2025
Trajectory Prediction Meets Large Language Models: A Survey Yi Xu Ruining Yang Yitian Zhang Yizhou Wang M. Zhang M. Zhang Lili Su Y. Fu LM&Ro LRM 191 7 0 03 Jun 2025
Using Diffusion Ensembles to Estimate Uncertainty for End-to-End Autonomous Driving Florian Wintel Sigmund H. Høeg G. Kiss Frank Lindseth 114 2 0 31 May 2025
Impromptu VLA: Open Weights and Open Data for Driving Vision-Language-Action Models Haohan Chi Huan-ang Gao Ziming Liu Jianing Liu Chenyu Liu ... Leichen Wang Xingtao Hu Hao Sun Hang Zhao Hao Zhao VLM 221 15 0 29 May 2025

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

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