mlsanityData to 7 Oct 2026

SUMMIT: A Simulator for Urban Driving in Massive Mixed Traffic

arXiv 1911.04074 ↗First posted 11 Nov 2019cs.RO cs.MAcited by 39

Not on the map. Why?

Abstract (arXiv)

Autonomous driving in an unregulated urban crowd is an outstanding challenge, especially, in the presence of many aggressive, high-speed traffic participants. This paper presents SUMMIT, a high-fidelity simulator that facilitates the development and testing of crowd-driving algorithms. By leveraging the open-source OpenStreetMap map database and a heterogeneous multi-agent motion prediction model developed in our earlier work, SUMMIT simulates dense, unregulated urban traffic for heterogeneous agents at any worldwide locations that OpenStreetMap supports. SUMMIT is built as an extension of CARLA and inherits from it the physics and visual realism for autonomous driving simulation. SUMMIT supports a wide range of applications, including perception, vehicle control and planning, and end-to-end learning. We provide a context-aware planner together with benchmark scenarios and show that SUMMIT generates complex, realistic traffic behaviors in challenging crowd-driving settings.

Key facts. Cited by 39 papers in the map (data through 7 Oct 2026). First posted on arXiv 11 Nov 2019.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 6; 2022: 8; 2023: 7; 2024: 7; 2025: 6; 2026: 5.

39 papers.

Sort:

By area:

  1. 2021MetaDrive: Composing Diverse Driving Scenarios for Generalizable Reinforcement Learningcited by 281
  2. 2023Waymax: An Accelerated, Data-Driven Simulator for Large-Scale Autonomous Driving Researchcited by 158
  3. 2024ChatScene: Knowledge-Enabled Safety-Critical Scenario Generation for Autonomous Vehiclescited by 92
  4. 2022SafeBench: A Benchmarking Platform for Safety Evaluation of Autonomous Vehiclescited by 65
  5. 2022Nocturne: a scalable driving benchmark for bringing multi-agent learning one step closer to the real worldcited by 56
  6. 2023How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligencecited by 55
  7. 2024GPUDrive: Data-driven, multi-agent driving simulation at 1 million FPScited by 43
  8. 2025A Survey of Sim-to-Real Methods in RL: Progress, Prospects and Challenges with Foundation Modelscited by 36
  9. 2021Learning to Simulate Self-Driven Particles System with Coordinated Policy Optimizationcited by 33
  10. 2025Scenario Dreamer: Vectorized Latent Diffusion for Generating Driving Simulation Environmentscited by 27
  11. 2023Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Drivingcited by 26
  12. 2024MetaUrban: An Embodied AI Simulation Platform for Urban Micromobilitycited by 19
27 more
  1. 2023What Truly Matters in Trajectory Prediction for Autonomous Driving?cited by 17
  2. 2021Autonomous Driving Strategies at Intersections: Scenarios, State-of-the-Art, and Future Outlookscited by 15
  3. 2021Closing the Planning-Learning Loop with Application to Autonomous Drivingcited by 12
  4. 2022LEADER: Learning Attention over Driving Behaviors for Planning under Uncertaintycited by 9
  5. 2023Learning to Control and Coordinate Mixed Traffic Through Robot Vehicles at Complex and Unsignalized Intersectionscited by 9
  6. 2022Deep Learning based Computer Vision Methods for Complex Traffic Environments Perception: A Reviewcited by 7
  7. 2023FusionPlanner: A Multi-task Motion Planner for Mining Trucks via Multi-sensor Fusioncited by 7
  8. 2024TorchDriveEnv: A Reinforcement Learning Benchmark for Autonomous Driving with Reactive, Realistic, and Diverse Non-Playable Characterscited by 6
  9. 2024Vulnerable Road User Detection and Safety Enhancement: A Comprehensive Surveycited by 5
  10. 2021A Reinforcement Learning Benchmark for Autonomous Driving in Intersection Scenarioscited by 4
  11. 2022WorldGen: A Large Scale Generative Simulatorcited by 4
  12. 2021An Intelligent Self-driving Truck System For Highway Transportationcited by 3
  13. 2024Adversarial and Reactive Traffic Entities for Behavior-Realistic Driving Simulation: A Reviewcited by 3
  14. 2025Getting SMARTER for Motion Planning in Autonomous Driving Systemscited by 3
  15. 2022TRoVE: Transforming Road Scene Datasets into Photorealistic Virtual Environmentscited by 2
  16. 2024TrafficGamer: Reliable and Flexible Traffic Simulation for Safety-Critical Scenarios with Game-Theoretic Oraclescited by 1
  17. 2025Towards Benchmarking and Assessing the Safety and Robustness of Autonomous Driving on Safety-critical Scenarioscited by 1
  18. 2022OpenPodcar: an Open Source Vehicle for Self-Driving Car Researchcited by 0
  19. 2022RegTraffic: A Regression Based Traffic Simulator for Spatiotemporal Traffic Modeling, Simulation and Visualizationcited by 0
  20. 2023Zero-shot Transfer Learning of Driving Policy via Socially Adversarial Traffic Flowcited by 0
  21. 2025Sky-Drive: A Distributed Multi-Agent Simulation Platform for Human-AI Collaborative and Socially-Aware Future Transportationcited by 0
  22. 2025Realistic Urban Traffic Generator using Decentralized Federated Learning for the SUMO simulatorcited by 0
  23. 2026CARLA-Round: A Multi-Factor Simulation Dataset for Roundabout Trajectory Predictioncited by 0
  24. 2026RVN-Bench: A Benchmark for Reactive Visual Navigationcited by 0
  25. 2026ScenarioControl: Vision-Language Controllable Vectorized Latent Scenario Generationcited by 0
  26. 2026Dash2Sim: Closed-Loop Driving Simulation from in-the-wild Dashcam Videoscited by 0
  27. 2026End-to-end Conditional Diffusion for Realistic and Controllable Visual Traffic Scenario Generationcited by 0