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off-road-benchmark's Introduction

A New Open-Source Off-road Environment for Benchmark Generalization of Autonomous Driving

Isaac Han, Dong-Hyeok Park, and Kyung-Joong Kim

IEEE Access [Paper] [Video]

Installation

  1. download Off-road CARLA environment from google drive

  2. clone this repository

git clone https://github.com/lssac7778/Off-road-Benchmark.git
  1. pull docker image
docker pull lssac7778/carla

Quick start

run CARLA server

sh <download-path>/CARLA_Shipping_0.9.6-dirty/LinuxNoEditor/CarlaUE4.sh -opengl

run test_env.py

cd Off-road-Benchmark
docker run -v $PWD:/app -e DISPLAY=$DISPLAY --net host --ipc host lssac7778/carla python test_env.py

Document

  1. Train custom agent
  2. Evaluate custom agent
  3. Use custom reward function
  4. How to import off-road maps into recent CARLA versions?

Contact

If you have any questions about the paper or the codebase, please feel free to contact [email protected]

off-road-benchmark's People

Contributors

lssac7778 avatar

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