nuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles. - Holger Caesar; Juraj Kabzan; Kok Seang Tan; Whye Kit Fong; Eric M. Wolff; Alex H. Lang; Luke Fletcher; Oscar Beijbom; Sammy Omari (CoRR, 2021)

Panoptic Nuscenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking. - Whye Kit Fong; Rohit Mohan; Juana Valeria Hurtado; Lubing Zhou; Holger Caesar; Oscar Beijbom; Abhinav Valada (IEEE Robotics Autom. Lett., 2022)

Towards learning-based planning: The nuPlan benchmark for real-world autonomous driving. - Napat Karnchanachari; Dimitris Geromichalos; Kok Seang Tan; Nanxiang Li; Christopher Eriksen; Shakiba Yaghoubi; Noushin Mehdipour; Gianmarco Bernasconi; Whye Kit Fong; Yiluan Guo; Holger Caesar (ICRA, 2024)