114 lines
4.6 KiB
Markdown
114 lines
4.6 KiB
Markdown
CARLA Simulator
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===============
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[](https://travis-ci.org/carla-simulator/carla)
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[](http://carla.readthedocs.io)
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[](http://carla.org)
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[](https://github.com/carla-simulator/carla/blob/master/Docs/download.md)
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[](http://carla.readthedocs.io)
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[](https://discord.gg/8kqACuC)
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<!-- [](link here) -->
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CARLA is an open-source simulator for autonomous driving research. CARLA has
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been developed from the ground up to support development, training, and
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validation of autonomous driving systems. In addition to open-source code
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and protocols, CARLA provides open digital assets (urban layouts, buildings,
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vehicles) that were created for this purpose and can be used freely. The
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simulation platform supports flexible specification of sensor suites and
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environmental conditions.
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[](https://www.youtube.com/watch?v=BjH-pFGlZ0M)
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If you want to benchmark your model in the same conditions as in our CoRL’17
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paper, check out
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[Benchmarking](https://github.com/carla-simulator/driving-benchmarks).
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## CARLA Ecosystem
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Repositories associated to the CARLA simulation platform:
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* [**Scenario_Runner**](https://github.com/carla-simulator/scenario_runner): Engine to execute traffic scenarios in CARLA 0.9.X
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* [**ROS-bridge**](https://github.com/carla-simulator/ros-bridge): Interface to connect CARLA 0.9.X to ROS
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* [**Driving-benchmarks**](https://github.com/carla-simulator/driving-benchmarks): Benchmark tools for Autonomous Driving tasks
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* [**Conditional Imitation-Learning**](https://github.com/felipecode/coiltraine): Training and testing Conditional Imitation Learning models in CARLA [README](https://github.com/felipecode/coiltraine/blob/master/docs/view_agents.md)
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* [**AutoWare AV stack**](https://github.com/carla-simulator/carla-autoware): Bridge to connect AutoWare AV stack to CARLA
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* [**Reinforcement-Learning**](https://github.com/carla-simulator/reinforcement-learning): Code for running Conditional Reinforcement Learning models in CARLA
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2019 Roadmap
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-------
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We are continuously working on improving CARLA, and we appreciate contributions
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from the community. Our most immediate goals are:
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- [x] Support simulation of traffic scenarios
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- [x] Support ROS interface
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- [x] Allowing for flexible and user-friendly import and editing of maps
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- [x] Control of all vehicles from client side
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- [x] Control of pedestrians from client side
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- [x] No rendering mode for high performance simulation
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- [ ] Support parallel simulation of traffic scenarios in the cloud
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- [ ] RADAR simulation
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Paper
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-----
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If you use CARLA, please cite our CoRL’17 paper.
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_CARLA: An Open Urban Driving Simulator_<br>Alexey Dosovitskiy, German Ros,
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Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16
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[[PDF](http://proceedings.mlr.press/v78/dosovitskiy17a/dosovitskiy17a.pdf)]
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[[talk](https://www.youtube.com/watch?v=xfyK03MEZ9Q&feature=youtu.be&t=2h44m30s)]
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```
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@inproceedings{Dosovitskiy17,
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title = {{CARLA}: {An} Open Urban Driving Simulator},
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author = {Alexey Dosovitskiy and German Ros and Felipe Codevilla and Antonio Lopez and Vladlen Koltun},
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booktitle = {Proceedings of the 1st Annual Conference on Robot Learning},
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pages = {1--16},
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year = {2017}
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}
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```
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Building CARLA
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--------------
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Use `git clone` or download the project from this page. Note that the master
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branch contains the latest fixes and features, for the latest stable code may be
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best to switch to the `stable` branch.
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Then follow the instruction at [How to build on Linux][buildlinuxlink] or
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[How to build on Windows][buildwindowslink].
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Unfortunately we don't have official instructions to build on Mac yet, please
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check the progress at [issue #150][issue150].
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[buildlinuxlink]: http://carla.readthedocs.io/en/latest/how_to_build_on_linux
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[buildwindowslink]: http://carla.readthedocs.io/en/latest/how_to_build_on_windows
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[issue150]: https://github.com/carla-simulator/carla/issues/150
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Contributing
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------------
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Please take a look at our [Contribution guidelines][contriblink].
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[contriblink]: http://carla.readthedocs.io/en/latest/CONTRIBUTING
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F.A.Q.
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------
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If you run into problems, check our
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[FAQ](http://carla.readthedocs.io/en/latest/faq/).
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License
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-------
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CARLA specific code is distributed under MIT License.
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CARLA specific assets are distributed under CC-BY License.
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Note that UE4 itself follows its own license terms.
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