Simulator List
Last updated
Last updated
< Reference: https://autodrive.readthedocs.io/en/latest/chapters/simulator/comparison.html >
Comparison of different simulators:
Simulator
Engine
LearningSupport
OpenSource?
Unique Features
Simulator
Deepdrive
Unreal Engine
Tensorflow
YES
+ High FPS due to shared memory+ Terrain is not just flat+ Realistic rendering+ 100GB (8.2 hours) dataset available- Only ground vehicles- Sparse documentation
Deepdrive
Carla
Unreal Engine
TensorFlowChainer
YES
+ Easy to get started- Training code currently unavailable
Carla
Microsoft AirSim
Unreal Engine
CNTK
YES
+ UAV support+ Realtime hardware controller support
Microsoft AirSim
Baidu Apollo
ROSDreamview
TensorflowKeras
YES
+ Support includes free Udacity Apollo course- Hardware focused- Only tested on Lincoln MKZ
Baidu Apollo
Ardupilot
SITL Simulator Gazebo
GymFC
YES
+ UAV support- Hardware focused- Not initially intended for Learning
Ardupilot
TORCS
OpenGL
TensorflowKeras
YES
+ Easy to get started+ Primary research platform for years- Outdated graphics
TORCS
Nvidia DriveWorks
Unreal Engine
Unknown
?
+ Good support for Nvidia GPUs and boards+ Used on Tesla Vehicles
Nvidia DriveWorks
Zoox
Unreal Engine
Unknown
NO
Raised $790,000,000
Zoox
Cruise Automation
Unreal Engine
Unknown
NO
Raised $3,368,800,000
Cruise Automation
Common notes:
All simulators require dedicated GPU
Their usage is not always trivial
SITL: Software in the Loop
Since our objective is for testing in a simulation environment, hardware focused simulators have been given a negative weightage
Knowlegde prerequisites:
Linux
Python
GitHub
Docker (Apollo only)
Machine Learning Practices