mlsanityData to 7 Oct 2026

LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving

arXiv 2005.03778 ↗First posted 7 May 2020cs.RO cs.LG cs.SYcited by 119

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Cited by 31 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Testing autonomous driving algorithms on real autonomous vehicles is extremely costly and many researchers and developers in the field cannot afford a real car and the corresponding sensors. Although several free and open-source autonomous driving stacks, such as Autoware and Apollo are available, choices of open-source simulators to use with them are limited. In this paper, we introduce the LGSVL Simulator which is a high fidelity simulator for autonomous driving. The simulator engine provides end-to-end, full-stack simulation which is ready to be hooked up to Autoware and Apollo. In addition, simulator tools are provided with the core simulation engine which allow users to easily customize sensors, create new types of controllable objects, replace some modules in the core simulator, and create digital twins of particular environments.

Key facts. Cited by 119 papers in the map (data through 7 Oct 2026). First posted on arXiv 7 May 2020.

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Citing papers per year: 2021: 18; 2022: 16; 2023: 18; 2024: 23; 2025: 29; 2026: 15.

119 papers.

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  1. 2023Identifying the Risks of LM Agents with an LM-Emulated Sandboxcited by 514
  2. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 243
  3. 2023Motion Planning for Autonomous Driving: The State of the Art and Future Perspectivescited by 112
  4. 2024Editable Scene Simulation for Autonomous Driving via Collaborative LLM-Agentscited by 91
  5. 2022On Adversarial Robustness of Trajectory Prediction for Autonomous Vehiclescited by 89
  6. 2021VISTA 2.0: An Open, Data-driven Simulator for Multimodal Sensing and Policy Learning for Autonomous Vehiclescited by 81
  7. 2025Cosmos-Drive-Dreams: Scalable Synthetic Driving Data Generation with World Foundation Modelscited by 80
  8. 2023Neural Map Prior for Autonomous Drivingcited by 68
  9. 2022Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racingcited by 56
  10. 2023How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligencecited by 55
  11. 2025Pure Vision Language Action (VLA) Models: A Comprehensive Surveycited by 46
  12. 2025RAP: 3D Rasterization Augmented End-to-End Planningcited by 39
38 more
  1. 2023Does Physical Adversarial Example Really Matter to Autonomous Driving? Towards System-Level Effect of Adversarial Object Evasion Attackcited by 37
  2. 2025Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysiscited by 37
  3. 2024SGD: Street View Synthesis with Gaussian Splatting and Diffusion Priorcited by 36
  4. 2021Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehiclescited by 33
  5. 2021Imagining The Road Ahead: Multi-Agent Trajectory Prediction via Differentiable Simulationcited by 32
  6. 2024EgoGen: An Egocentric Synthetic Data Generatorcited by 27
  7. 2021A Survey on Simulators for Testing Self-Driving Carscited by 26
  8. 2021Security Analysis of Camera-LiDAR Fusion Against Black-Box Attacks on Autonomous Vehiclescited by 26
  9. 2023Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Drivingcited by 26
  10. 2021Can Offline Testing of Deep Neural Networks Replace Their Online Testing?cited by 24
  11. 20253D Scene Generation: A Surveycited by 24
  12. 2021A Survey on Scenario-Based Testing for Automated Driving Systems in High-Fidelity Simulationcited by 21
  13. 2022A Survey and Framework of Cooperative Perception: From Heterogeneous Singleton to Hierarchical Cooperationcited by 21
  14. 2022Sim-to-Real Domain Adaptation for Lane Detection and Classification in Autonomous Drivingcited by 20
  15. 2021Neural Network Guided Evolutionary Fuzzing for Finding Traffic Violations of Autonomous Vehiclescited by 19
  16. 2025DecoupledGaussian: Object-Scene Decoupling for Physics-Based Interactioncited by 16
  17. 2021Autonomous Driving Strategies at Intersections: Scenarios, State-of-the-Art, and Future Outlookscited by 15
  18. 2023SlowTrack: Increasing the Latency of Camera-based Perception in Autonomous Driving Using Adversarial Examplescited by 15
  19. 2022Infrastructure-Based Object Detection and Tracking for Cooperative Driving Automation: A Surveycited by 14
  20. 2024A Super-human Vision-based Reinforcement Learning Agent for Autonomous Racing in Gran Turismocited by 12
  21. 2022Visual Adversarial Attacks and Defenses in the Physical World: A Surveycited by 11
  22. 2024Predicting Safety Misbehaviours in Autonomous Driving Systems using Uncertainty Quantificationcited by 11
  23. 2022AutoDRIVE: A Comprehensive, Flexible and Integrated Digital Twin Ecosystem for Enhancing Autonomous Driving Research and Educationcited by 10
  24. 2021Parallel and Multi-Objective Falsification with Scenic and VerifAIcited by 8
  25. 2022ANTI-CARLA: An Adversarial Testing Framework for Autonomous Vehicles in CARLAcited by 8
  26. 2021Vision-Cloud Data Fusion for ADAS: A Lane Change Prediction Case Studycited by 7
  27. 2022RITA: Boost Driving Simulators with Realistic Interactive Traffic Flowcited by 7
  28. 2024From Dashcam Videos to Driving Simulations: Stress Testing Automated Vehicles against Rare Eventscited by 7
  29. 2025When Planners Meet Reality: How Learned, Reactive Traffic Agents Shift nuPlan Benchmarkscited by 7
  30. 2021ViSTA: a Framework for Virtual Scenario-based Testing of Autonomous Vehiclescited by 6
  31. 2023Benchmarking the Physical-world Adversarial Robustness of Vehicle Detectioncited by 6
  32. 2024Autonomous Driving Small-Scale Cars: A Survey of Recent Developmentcited by 6
  33. 2021End-to-end Uncertainty-based Mitigation of Adversarial Attacks to Automated Lane Centeringcited by 5
  34. 2022Cyber Mobility Mirror for Enabling Cooperative Driving Automation in Mixed Traffic: A Co-Simulation Platformcited by 5
  35. 2023Exploring the Physical World Adversarial Robustness of Vehicle Detectioncited by 5
  36. 2024GarchingSim: An Autonomous Driving Simulator with Photorealistic Scenes and Minimalist Workflowcited by 5
  37. 2024ControlLoc: Physical-World Hijacking Attack on Visual Perception in Autonomous Drivingcited by 5
  38. 2025Simulating the Unseen: Crash Prediction Must Learn from What Did Not Happencited by 5

50 most cited of 119 All 119 (JSON)