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Datasets › CARLA

CARLA (Car Learning to Act)

Introduced by Alexey Dosovitskiy et al. in CARLA: An Open Urban Driving Simulator10 Nov 2017 archive 2025-07-28

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

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 4 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.

First row (archive order)PaperCode
CARLA longest6 CARLA DiffE2E Driving Score 83 — — 21 Compare
Autonomous Driving CARLA Leaderboard ReasonNet Driving Score 79.95 ReasonNet: End-to-End Driving with Temporal and Global Reasoning — 18 Compare
CARLA MAP Leaderboard CARLA Map TF++ Driving score 61.17 Hidden Biases of End-to-End Driving Models autonomousvision/carla_garage 8 Compare
CARLA Leaderboard 2.0 CARLA CarLLaVA Driving Score 6.87 CarLLaVA: Vision language models for camera-only... RenzKa/simlingo 4 Compare

Papers archive 2025-07-28

23 shown of 23 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 1,345. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
Using Diffusion Ensembles to Estimate Uncertainty for End-to-End Autonomous Driving 0 1 31 May 2025 not harvested
CarLLaVA: Vision language models for camera-only closed-loop driving 1 2 14 Jun 2024 not harvested
InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers 1 1 7 Sep 2023 not harvested
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving 1 2 1 Aug 2023 ran 6 of 7 samples (1 unverified)
Coaching a Teachable Student 1 1 16 Jun 2023 ran 0 of 4 samples (4 unverified)
Hidden Biases of End-to-End Driving Models 1 6 13 Jun 2023 ran 13 of 17 samples (4 unverified)
ReasonNet: End-to-End Driving with Temporal and Global Reasoning 0 1 17 May 2023 not harvested
Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving 1 1 10 May 2023 ran 4 of 7 samples (3 unverified)
PlanT: Explainable Planning Transformers via Object-Level Representations 2 1 25 Oct 2022 ran 2 of 2 samples (0 unverified)
Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer 1 3 28 Jul 2022 ran 1 of 1 samples (0 unverified)
MMFN: Multi-Modal-Fusion-Net for End-to-End Driving 1 1 1 Jul 2022 not harvested
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline 1 3 16 Jun 2022 not harvested
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving 3 7 31 May 2022 ran 1 of 5 samples (4 unverified)
Learning from All Vehicles 1 3 22 Mar 2022 ran 0 of 5 samples (5 unverified)
GRI: General Reinforced Imitation and its Application to Vision-Based Autonomous Driving 0 2 16 Nov 2021 not harvested
NEAT: Neural Attention Fields for End-to-End Autonomous Driving 1 2 9 Sep 2021 ran 0 of 2 samples (2 unverified)
Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles 1 1 30 May 2021 not harvested
Learning to drive from a world on rails 1 2 3 May 2021 ran 2 of 6 samples (4 unverified)
Multi-Modal Fusion Transformer for End-to-End Autonomous Driving 2 1 19 Apr 2021 ran 9 of 15 samples (6 unverified)
A Software Architecture for Autonomous Vehicles: Team LRM-B Entry in the First CARLA Autonomous Driving Challenge 0 1 23 Oct 2020 not harvested
Learning by Cheating 9 1 27 Dec 2019 ran 0 of 7 samples (7 unverified)
End-to-End Model-Free Reinforcement Learning for Urban Driving using Implicit Affordances 1 1 25 Nov 2019 ran 2 of 7 samples (5 unverified)
Exploring the Limitations of Behavior Cloning for Autonomous Driving 2 1 18 Apr 2019 ran 1 of 8 samples (7 unverified)

Dataset loaders archive 2025-07-28

joedlopes/carla-simulator-multimodal-sensingpytorch

1 loader as listed in the archive; links are outbound and not re-checked here.

Tasks archive 2025-07-28

Autonomous VehiclesAutonomous DrivingCARLA MAP LeaderboardCARLA longest6CARLA Leaderboard 2.0Imitation Learning

License archive 2025-07-28

CC-BY / MIT

Modalities archive 2025-07-28

Environment

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • CARLA
  • CARLA Leaderboard
  • CARLA_MAP_TRACK

3 variant names, as the archive lists them.

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