CARLA native driving replay
Watch a Lincoln MKZ follow a left-turn route in Town01 and stop near the declared endpoint. BasicAgent uses privileged map and actor state with PID control. The rear camera records the drive; it is not the controller’s sole input.
Open recording · Native verification · Reproduction notes (repository access required)
What the recording establishes
| Item | Recorded evidence |
|---|---|
| Authored route | Town01, spawn 0, Lincoln MKZ 2020, 43 OpenDRIVE waypoints over an 83.7619 m sampled polyline. Target speed: 18 km/h. This is not a registered Gym task. |
| Conditions | ClearNoon; no other vehicles or pedestrians; 36 native traffic lights green and frozen. This clear-road case does not test traffic negotiation. |
| Arrival | Within 3 m at at most 0.2 m/s for 20 consecutive ticks, with no collision events through the 800-step horizon. The hold completes at sample 423, about 21.15 s. Final distance: 0.951568 m; final speed: 0; recorded collisions: 0. |
| Native replay | A fresh native run replays controls without importing BasicAgent. All 801 samples, 19,224 checked state scalars, controls and outcome flags match exactly. Pixel-identical rendering across runs is not asserted. |
| Video | 801 native RGB frames, 960 × 540, 20 fps. H.264 delivery: 12,561,187 bytes; 40.05 s. Every decoded frame compared with its native RGB input; minimum PSNR 37.7475 dB. |
| Browser | One simulation recording with camera/state playback, seeking, metadata and recipe downloads. Zero browser city assemblies, learned checkpoints or benchmark results. |
Time, state and controls
Twenty brake ticks settle the vehicle before BasicAgent is constructed from a confirmed zero-steering state. Sample 0 is that settled start, without an issued route command. Each later sample follows its native control tick. The complete authored 40-second horizon continues after arrival: terminated=false, truncated=true. These are recording protocol flags, not upstream Gym signals.
Native timestamps remain measured. Encoded frame i has presentation time i/20 s; the maximum native/media discrepancy is 0.596 microseconds. The final native state at 40.000000596 s occupies the last video frame. The camera and state follow the presented image when the browser supports frame confirmation.
The downloads retain the measured chassis pose, native camera transforms, velocity, acceleration, angular velocity, requested/applied CARLA controls and traffic-light telemetry. Body positions reflect native y into a right-handed z-up frame; wxyz quaternions use the same world/body reflection. Original left-handed coordinates and degree angles remain separately labeled. No wheel state or joint action vector is invented. The plot labels speed in m/s and goal distance in m.
The coordinate audit compares all 1,602 measured vehicle/camera transforms with CARLA’s native SDK, plus six axis and near-180-degree cases. Maximum matrix error is 1.026e-7 against a 5e-7 tolerance. The original samples, native receipt and authored route remain available.
Inputs and limits
The upstream CARLA sources are public. Reproducing this exact recording also requires access to the site’s producer checkout at the build commit recorded in the recipe. That repository is private; the linked producer code and reproduction notes require repository access.
The native execution uses CARLA 0.9.16 and source commit 294096eb. The input lock records the official 8.35 GB release archive, 23 selected controller/API source files, pinned Python wheels, tested container image and observed runtime. The host was an RTX 4090 with NVIDIA driver 580.173.02. Mutable apt repositories mean a fresh container rebuild is not claimed bit-identical. No upstream archive checksum or source-to-binary build identity was established.
This single authored route is not a CARLA Leaderboard result, learned-policy evaluation, collision-avoidance benchmark, physical autonomous-driving validation or Galbot hardware demonstration. The browser plays measured state and video; original vehicle/map geometry and native physics remain in CARLA.
Attribution and output terms
CARLA contributors provide the code under MIT. The pinned README identifies CARLA-specific assets as CC-BY and separates Unreal Engine’s licence. This site generated the route recording and encoded its rendered RGB output to H.264; CARLA map and vehicle asset authors retain their original rights. No original assets or engine code are redistributed.
Unreal Engine’s EULA, section 4(a)(i) addresses rendered video as a non-engine product; this does not replace separate native runtime or asset terms. Unreal® is a trademark or registered trademark of Epic Games, Inc. in the United States of America and elsewhere. Unreal® Engine, Copyright 1998–2026, Epic Games, Inc. All rights reserved.
Further native simulation candidates: physics engines, aerial control and marine simulation, with their remaining qualification steps.