PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Driving
<|reference_start|>PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Driving: We present PLUTO, a powerful framework that pushes the limit of imitation learning-based planning for autonomous driving. Our improvements stem from three pivotal aspects: a longitudinal-lateral aware model architecture that enables flexible and diverse driving behaviors; An innovative auxiliary loss computation method that is broadly applicable and efficient for batch-wise calculation; A novel training framework that leverages contrastive learning, augmented by a suite of new data augmentations to regulate driving behaviors and facilitate the understanding of underlying interactions. We assessed our framework using the large-scale real-world nuPlan dataset and its associated standardized planning benchmark. Impressively, PLUTO achieves state-of-the-art closed-loop performance, beating other competing learning-based methods and surpassing the current top-performed rule-based planner for the first time. Results and code are available at https://jchengai.github.io/pluto.<|reference_end|>
@article{cheng2024pluto:,
    title={PLUTO: Pushing the Limit of Imitation Learning-based Planning for
  Autonomous Driving},
    author={Jie Cheng, Yingbing Chen, and Qifeng Chen},
    journal={arXiv preprint arXiv:2404.14327},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.14327},
    primaryClass={cs.RO}
}