Earlier this week, Zipcar published its Future Metropolis Index. To develop the Index, the company teamed up with KRC Research to rank the top 36 most populated U.S. cities on five factors: sustainability, innovation, vibrancy, efficiency, and livability. See the top 10 cities and their corresponding scores below.

“The results of our Future Metropolis Index make a powerful statement about an urban renaissance that we see is clearly underway,” Scott Griffith, chairman and CEO of Zipcar, said in a press release. “U.S. cities are growing and evolving and are more dynamic than ever before. This rebirth of our cities is being powered by technology and innovation coupled with smart urban policy which together work to enhance the lives of their residents.”san francisco

1. San Francisco, California

Innovation: #7

Sustainability: #3

Vibrancy/Creativity: #1

Efficiency: #5 (tie)

Livability/Optimism: #4

Image courtesy of Flickr user Laughing Squidseattle space needle park

New Homes in San Francisco, California

2. Seattle, Washington

Innovation: #8

Sustainability: #5 (tie)

Vibrancy/Creativity: #2 (tie)

Efficiency: #8

Livability/Optimism: #6 (tie)

Image courtesy of Flickr user mediafurywashington dc buildings

3. Washington, D.C.

Innovation: #4

Sustainability: #7 (tie)

Vibrancy/Creativity: #2 (tie)

Efficiency: #1

Livability/Optimism: #24 (tie)

Image courtesy of Flickr user dannyfowlerportland airtransit

4. Portland, Oregon

Innovation: #6

Sustainability: #2

Vibrancy/Creativity: #4

Efficiency: #11

Livability/Optimism: #10

Image courtesy of Flickr user C.M. Keinerboston downtown skyline

5. Boston, Massachusetts

Innovation: #3

Sustainability: #15

Vibrancy/Creativity: #9 (tie)

Efficiency: #3

Livability/Optimism: #6 (tie)

Image courtesy of Flickr user Werner Kunznew york city tower

6. New York City

Innovation: #15

Sustainability: #11

Vibrancy/Creativity: #7

Efficiency: #2

Livability/Optimism: #2

Image courtesy of Flickr user andrew c maceatlanta downtown

7. Atlanta, Georgia

Innovation: #1

Sustainability: #17 (tie)

Vibrancy/Creativity: #5 (tie)

Efficiency: #4

Livability/Optimism: #32

Image courtesy of Flickr user Stuck in Customsdenver downtown

8. Denver, Colorado

Innovation: #5

Sustainability: #14

Vibrancy/Creativity: #13

Efficiency: #13

Livability/Optimism: #6 (tie)

Image courtesy of Flickr user mattsantomarcopittsburgh downtown bridge

9. Pittsburgh, Pennsylvania

Innovation: #2

Sustainability: #23 (tie)

Vibrancy/Creativity: #14 (tie)

Efficiency: #9

Livability/Optimism: #13 (tie)

Image courtesy of Flickr user jiuguangwaustin downtown skylinezip

10. (Tie) Austin, Texas

Innovation: #19

Sustainability: #5 (tie)

Vibrancy/Creativity: #9 (tie)

Efficiency: #18 (tie)

Livability/Optimism: #5

Image courtesy of Flickr user joshpattensan diego skyline

10. (Tie) San Diego, California

Innovation: #16 (tie)

Sustainability: #9

Vibrancy/Creativity: #8

Efficiency: #17

Livability/Optimism: #3

Image courtesy of Flickr user Nick Chill Photography

via ULI.

San Francisco