mlsanityData to 7 Oct 2026

Imitation with Spatial-Temporal Heatmap: 2nd Place Solution for NuPlan Challenge

arXiv 2306.15700 ↗First posted 26 Jun 2023cs.RO cs.LGcited by 19

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Abstract (arXiv)

This paper presents our 2nd place solution for the NuPlan Challenge 2023. Autonomous driving in real-world scenarios is highly complex and uncertain. Achieving safe planning in the complex multimodal scenarios is a highly challenging task. Our approach, Imitation with Spatial-Temporal Heatmap, adopts the learning form of behavior cloning, innovatively predicts the future multimodal states with a heatmap representation, and uses trajectory refinement techniques to ensure final safety. The experiment shows that our method effectively balances the vehicle's progress and safety, generating safe and comfortable trajectories. In the NuPlan competition, we achieved the second highest overall score, while obtained the best scores in the ego progress and comfort metrics.

Key facts. Cited by 19 papers in the map (data through 7 Oct 2026). Builds on 10 of its 12 references that are in the map. First posted on arXiv 26 Jun 2023.

Builds on

10 of 12 references.

References · 10

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  4. 2016Xception: Deep Learning with Depthwise Separable Convolutionscited by 2,320
  5. 2022Planning-oriented Autonomous Drivingcited by 1,068
  6. 2021NuPlan: A closed-loop ML-based planning benchmark for autonomous vehiclescited by 485
  7. 2018ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worstcited by 391
  8. 2021HOME: Heatmap Output for future Motion Estimationcited by 122
  9. 2021AFDetV2: Rethinking the Necessity of the Second Stage for Object Detection from Point Cloudscited by 88
  10. 2022HOPE: Hierarchical Spatial-temporal Network for Occupancy Flow Predictioncited by 11

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 10; 2025: 4; 2026: 2.

19 papers.

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  1. 2024Towards learning-based planning:The nuPlan benchmark for real-world autonomous drivingcited by 103
  2. 2024DRAMA: An Efficient End-to-end Motion Planner for Autonomous Driving with Mambacited by 87
  3. 2025Centaur: Robust End-to-End Autonomous Driving with Test-Time Trainingcited by 41
  4. 2024Solving Motion Planning Tasks with a Scalable Generative Modelcited by 40
  5. 2024PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planningcited by 38
  6. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  7. 2023Rethinking Imitation-based Planner for Autonomous Drivingcited by 25
  8. 2024Generalizing Motion Planners with Mixture of Experts for Autonomous Drivingcited by 22
  9. 2024Hybrid-Prediction Integrated Planning for Autonomous Drivingcited by 18
  10. 2023End-To-End Planning of Autonomous Driving in Industry and Academia: 2022-2023cited by 11
  11. 2024LLM4AD: Large Language Models for Autonomous Driving -- Concept, Review, Benchmark, Experiments, and Future Trendscited by 10
  12. 2024Learning Multiple Probabilistic Decisions from Latent World Model in Autonomous Drivingcited by 8
7 more
  1. 2025Generative AI for Autonomous Driving: Frontiers and Opportunitiescited by 7
  2. 2024Spatially Visual Perception for End-to-End Robotic Learningcited by 2
  3. 2026DeepUrban: Interaction-Aware Trajectory Prediction and Planning for Automated Driving by Aerial Imagerycited by 2
  4. 2024Utilizing Navigation Paths to Generate Target Points for Enhanced End-to-End Autonomous Driving Planningcited by 1
  5. 2025CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Drivingcited by 1
  6. 2026PlanTRansformer: Unified Prediction and Planning with Goal-conditioned Transformercited by 1
  7. 2025Sequence of Expert: Boosting Imitation Planners for Autonomous Driving through Temporal Alternationcited by 0