Comparison of Simulators¶
Simulator
|
Engine
|
Learning
Support
|
Open
Source?
|
Unique Features
|
|---|---|---|---|---|
Carla |
Unreal Engine |
TensorFlow
Chainer
|
YES |
+ Easy to get started
- Training code currently unavailable
|
Microsoft AirSim |
Unreal Engine |
CNTK |
YES |
+ UAV support
+ Realtime hardware controller support
|
Baidu Apollo |
ROS
Dreamview
|
Tensorflow
Keras
|
YES |
+ Support includes free Udacity Apollo course
- Hardware focused
- Only tested on Lincoln MKZ
|
Ardupilot |
SITL Simulator Gazebo |
GymFC |
YES |
+ UAV support
- Hardware focused
- Not initially intended for Learning
|
- Notes:
All simulators require dedicated GPU
SITL: Software in the Loop
Comparison from the paper:
