This is the official project repository of the paper DriveArena: A Controllable Generative Simulation Platform for Autonomous Driving and is mainly used for releasing schedules, updating instructions, sharing model weights, and handling issues.
DriveArena V1.0 is currently under active development and will be open-sourced soon.
If you want to get informed once the code is released, please fill out this Google form.
[2024-08-02]: The paper can be accessed at arxiv.
[2024-07-30]: We've released the project page of DriveArena!
DriveArena is a simulation platform that can
- Provide closed-loop high-fidelity testing environments for vision-based driving agents.
- Dynamically control the movement of all vehicles in the scenarios.
- Generate realistic simulations with road networks from any city worldwide.
- Follow a modular architecture, allowing the easy replacement of each module.
The DriveArena is pretrained on nuScenes dataset. All kinds of vision-based driving agents, such as UniAD and VAD, can be combined with DriveArena to evaluate their actual driving performance in closed-loop realistic simulation environments.
We provide a leaderboard to present the driving performance evaluation of driving agents with our simulation platform. For the explanation of each evaluation metric, please check out our paper.
| Driving Agent | Simulation Environment | NC | DAC | EP | TTC | C | PDMS |
|---|---|---|---|---|---|---|---|
| Human | Nuscenes GT | 1.000±0.00 | 1.000±0.00 | 1.000±0.00 | 0.979±0.12 | 0.752±0.17 | 0.950±0.06 |
| UniAD | nuScenes original | 0.993±0.03 | 0.995±0.01 | 0.914±0.05 | 0.947±0.14 | 0.848±0.21 | 0.910±0.09 |
| UniAD | DriveArena | 0.792±0.11 | 0.942±0.04 | 0.738±0.11 | 0.771±0.12 | 0.749±0.16 | 0.636±0.08 |
| Driving Agent | Route | PDMS | RC | ADS |
|---|---|---|---|---|
| UniAD | sing_route_1 | 0.7615 | 0.1684 | 0.1684 |
| UniAD | sing_route_2 | 0.7215 | 0.169 | 0.0875 |
| UniAD | boston_route_1 | 0.4952 | 0.091 | 0.0450 |
| UniAD | boston_route_2 | 0.6888 | 0.121 | 0.0835 |
- Demo Website Release
- V1.0 Release
- Traffic Manager Code
- World Dreamer
- Inference Code
- Training Code
- Pretrained Weights
- Evaluation Code
- Driving Agent Support
- UniAD
- VAD
- LeapAD
- Video Autoregression Dreamer
We utilized the following repos during development:
Thanks for their Awesome open-sourced work!
Distributed under the Apache 2.0 license.
If you find our paper and codes useful, please kindly cite us via:
@article{yang2024drivearena,
title={DriveArena: A Closed-loop Generative Simulation Platform for Autonomous Driving},
author={Xuemeng Yang and Licheng Wen and Yukai Ma and Jianbiao Mei and Xin Li and Tiantian Wei and Wenjie Lei and Daocheng Fu and Pinlong Cai and Min Dou and Botian Shi and Liang He and Yong Liu and Yu Qiao},
journal={arXiv preprint arXiv:2408.00415},
year={2024}
}