CARLA

Car Learning to Act

Dataset Information
Modalities
Environment
Introduced
2017
License
CC-BY / MIT
Homepage
Official Website
Contents

Overview

CARLA (CAR Learning to Act) is an open simulator for urban driving, developed as an open-source layer over Unreal Engine 4. Technically, it operates similarly to, as an open source layer over Unreal Engine 4 that provides sensors in the form of RGB cameras (with customizable positions), ground truth depth maps, ground truth semantic segmentation maps with 12 semantic classes designed for driving (road, lane marking, traffic sign, sidewalk and so on), bounding boxes for dynamic objects in the environment, and measurements of the agent itself (vehicle location and orientation).

Source: Synthetic Data for Deep Learning

Variants: CARLA, CARLA Leaderboard, CARLA_MAP_TRACK

Associated Benchmarks

This dataset is used in 1 benchmark:

Recent Benchmark Submissions

Task Model Paper Date
CARLA longest6 EnDfuser + safety-rule Using Diffusion Ensembles to Estimate … 2025-05-31
CARLA longest6 InteractionNet InteractionNet: Joint Planning and Prediction … 2023-09-07
CARLA longest6 DriveAdapter DriveAdapter: Breaking the Coupling Barrier … 2023-08-01
CARLA longest6 DriveAdapter+TCP DriveAdapter: Breaking the Coupling Barrier … 2023-08-01
CARLA longest6 Coaching a Teachable Student (CaT) Coaching a Teachable Student 2023-06-16
CARLA longest6 TransFuser++ WP (TF++WP) Hidden Biases of End-to-End Driving … 2023-06-13
CARLA longest6 TransFuser++ (TF++) Hidden Biases of End-to-End Driving … 2023-06-13
CARLA longest6 ThinkTwice Think Twice before Driving: Towards … 2023-05-10
CARLA longest6 Perception PlanT PlanT: Explainable Planning Transformers via … 2022-10-25
CARLA longest6 Interfuser Safety-Enhanced Autonomous Driving Using Interpretable … 2022-07-28
CARLA longest6 Trajectory-guided Control Prediction (TCP) Trajectory-guided Control Prediction for End-to-end … 2022-06-16
CARLA longest6 TransFuser (TF) TransFuser: Imitation with Transformer-Based Sensor … 2022-05-31
CARLA longest6 Late Fusion (LF) TransFuser: Imitation with Transformer-Based Sensor … 2022-05-31
CARLA longest6 Geometric Fusion (GF) TransFuser: Imitation with Transformer-Based Sensor … 2022-05-31
CARLA longest6 Latent TransFuser (LTF) TransFuser: Imitation with Transformer-Based Sensor … 2022-05-31
CARLA longest6 Learning from all Vehicle v2 (LAV v2) Learning from All Vehicles 2022-03-22
CARLA longest6 Learning from all Vehicles v1 (LAV v1) Learning from All Vehicles 2022-03-22
CARLA longest6 Neural Attention Fields (NEAT) NEAT: Neural Attention Fields for … 2021-09-09
CARLA longest6 World on Rails (WOR) Learning to drive from a … 2021-05-03

Research Papers

Recent papers with results on this dataset:

External Links: