{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/drivegan-towards-a-controllable-high-quality","title":"DriveGAN: Towards a Controllable High-Quality Neural Simulation","arxiv_id":"2104.15060","date":"2021-04-30","proceeding":"CVPR 2021 1","authors":["Seung Wook Kim","Jonah Philion","Antonio Torralba","Sanja Fidler"],"abstract":"Realistic simulators are critical for training and verifying robotics systems. While most of the contemporary simulators are hand-crafted, a scaleable way to build simulators is to use machine learning to learn how the environment behaves in response to an action, directly from data. In this work, we aim to learn to simulate a dynamic environment directly in pixel-space, by watching unannotated sequences of frames and their associated action pairs. We introduce a novel high-quality neural simulator referred to as DriveGAN that achieves controllability by disentangling different components without supervision. In addition to steering controls, it also includes controls for sampling features of a scene, such as the weather as well as the location of non-player objects. Since DriveGAN is a fully differentiable simulator, it further allows for re-simulation of a given video sequence, offering an agent to drive through a recorded scene again, possibly taking different actions. We train DriveGAN on multiple datasets, including 160 hours of real-world driving data. We showcase that our approach greatly surpasses the performance of previous data-driven simulators, and allows for new features not explored before.","url_abs":"https://arxiv.org/abs/2104.15060v1","url_pdf":"https://arxiv.org/pdf/2104.15060v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"drivegan-towards-a-controllable-high-quality","repo_url":"https://github.com/nv-tlabs/drivegan_code","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"high","task_name":"Vocal Bursts Intensity Prediction"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2104.15060","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2104.15060"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/nv-tlabs/drivegan_code","reach":null}],"summary":{"ran":1,"ran_violates":1,"unverified":3},"by_repo_kind":{"listed":{"samples":5,"ran":2,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":5,"samples":[{"code_sha256_prefix":"7c61ff47ebca6183","entry":"ConvLSTM","repo":"nv-tlabs/drivegan_code","repo_kind":"listed","path":"simulator_model/dynamics_engine.py","file_url":"https://github.com/nv-tlabs/drivegan_code/blob/HEAD/simulator_model/dynamics_engine.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NOASSERTION","inline_ok":false,"mcp_get_code":{"code_sha256":"7c61ff47ebca6183"}},{"code_sha256_prefix":"adbd95733f94c246","entry":"check_arg","repo":"nv-tlabs/drivegan_code","repo_kind":"listed","path":"simulator_model/dynamics_engine.py","file_url":"https://github.com/nv-tlabs/drivegan_code/blob/HEAD/simulator_model/dynamics_engine.py","link_basis":"first_harvest_node","language":"python","status":"ran_violates","verification_level":1,"contract_check":"VIOLATES","metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NOASSERTION","inline_ok":false,"mcp_get_code":{"code_sha256":"adbd95733f94c246"}},{"code_sha256_prefix":"fd6806908141bea3","entry":"EngineGenerator","repo":"nv-tlabs/drivegan_code","repo_kind":"listed","path":"simulator_model/dynamics_engine.py","file_url":"https://github.com/nv-tlabs/drivegan_code/blob/HEAD/simulator_model/dynamics_engine.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NOASSERTION","inline_ok":false,"mcp_get_code":{"code_sha256":"fd6806908141bea3"}},{"code_sha256_prefix":"1a5d6eb1fb1353f2","entry":"EngineModule","repo":"nv-tlabs/drivegan_code","repo_kind":"listed","path":"simulator_model/dynamics_engine.py","file_url":"https://github.com/nv-tlabs/drivegan_code/blob/HEAD/simulator_model/dynamics_engine.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NOASSERTION","inline_ok":false,"mcp_get_code":{"code_sha256":"1a5d6eb1fb1353f2"}},{"code_sha256_prefix":"eb328ee6812f29cd","entry":"check_gpu","repo":"nv-tlabs/drivegan_code","repo_kind":"listed","path":"simulator_model/dynamics_engine.py","file_url":"https://github.com/nv-tlabs/drivegan_code/blob/HEAD/simulator_model/dynamics_engine.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NOASSERTION","inline_ok":false,"mcp_get_code":{"code_sha256":"eb328ee6812f29cd"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}