nuPlan is an autonomous driving dataset released by Motional in 2022. The related paper results are "nuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles", which aims to provide a machine learning-based planner development and training framework, a lightweight closed-loop simulator, dedicated motion planning metrics, and interactive tools for visualizing results. The dataset contains 1,200 hours of human driving data from four cities in the United States and Asia: Boston, Pittsburgh, Las Vegas, and Singapore.