This simulator was built for Udacity's Self-Driving Car Nanodegree, to teach students how to train cars how to navigate road courses using deep learning. See more project details here.
And changes were made, adding the ability to collect segmented photos, and create a reinforcement learning based autonomous vehicle.
This is done through creating a reward function, reset systems and duplicating the world and the actions by the actor to be clone into a segmented world.