Papers › Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles
Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles
Ionel Gog*, Sukrit Kalra*, Peter Schafhalter*, Matthew A. Wright Joseph E. Gonzalez Ion Stoica
We present Pylot, a platform for autonomous vehicle (AV) research and development, built with the goal to allow researchers to study the effects of the latency and accuracy of their models and algorithms on the end-to-end driving behavior of an AV. This is achieved through a modular structure enabled by our high-performance dataflow system that represents AV software pipeline components (object detectors, motion planners, etc.) as a dataflow graph of operators which communicate on data streams using timestamped messages. Pylot readily interfaces with popular AV simulators like CARLA, and is easily deployable to real-world vehicles with minimal code changes.To reduce the burden of developing an entire pipeline for evaluating a single component, Pylot provides several state-of-the-art reference implementations for the various components of an AV pipeline. Using these reference implementations, a Pylot-based AV pipeline is able to drive a real vehicle, and attains a high score on the CARLA Autonomous Driving Challenge. We also present several case studies enabled by Pylot, including evidence of a need for context-dependent components, and per-component time allocation. Pylot is open source, with the code available at https://github.com/erdos-project/pylot.
Code
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| CARLA MAP Leaderboard | CARLA | Pylot | Driving score | 16.7 | #7 of 8 | Archive leaderboard | report |
| CARLA MAP Leaderboard | CARLA | Pylot | Infraction penalty | 0.5 | #7 of 8 | Archive leaderboard | report |
| CARLA MAP Leaderboard | CARLA | Pylot | Route completion | 48.63 | #7 of 8 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Methods
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