{"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/sim-on-wheels-physical-world-in-the-loop","title":"Sim-on-Wheels: Physical World in the Loop Simulation for Self-Driving","arxiv_id":"2306.08807","date":"2023-06-15","proceeding":null,"authors":["Yuan Shen","Bhargav Chandaka","Zhi-hao Lin","Albert Zhai","Hang Cui","David Forsyth","Shenlong Wang"],"abstract":"We present Sim-on-Wheels, a safe, realistic, and vehicle-in-loop framework to test autonomous vehicles' performance in the real world under safety-critical scenarios. Sim-on-wheels runs on a self-driving vehicle operating in the physical world. It creates virtual traffic participants with risky behaviors and seamlessly inserts the virtual events into images perceived from the physical world in real-time. The manipulated images are fed into autonomy, allowing the self-driving vehicle to react to such virtual events. The full pipeline runs on the actual vehicle and interacts with the physical world, but the safety-critical events it sees are virtual. Sim-on-Wheels is safe, interactive, realistic, and easy to use. The experiments demonstrate the potential of Sim-on-Wheels to facilitate the process of testing autonomous driving in challenging real-world scenes with high fidelity and low risk.","url_abs":"https://arxiv.org/abs/2306.08807v1","url_pdf":"https://arxiv.org/pdf/2306.08807v1.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":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"sim-on-wheels-physical-world-in-the-loop","repo_url":"https://github.com/Sim-on-Wheels/Sim-on-wheels-Renderer","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2306.08807","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}