# Towards Validation of Autonomous Vehicles Across Scales using an Integrated Digital Twin Framework

arXiv: https://arxiv.org/abs/2402.12670 · HTML: https://mlsanity.com/paper/2402.12670/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Adversarial scenarios and safety testing, one of 9 directions in End-to-end autonomous driving.
- Builds on 14 of its 36 references that are in the map.
- First posted on arXiv 20 Feb 2024.

## Placed in

- End-to-end autonomous driving / [Adversarial scenarios and safety testing](https://mlsanity.com/driving/adversarial-scenarios-and-safety-testing/)

## Builds on (most cited first, 14 of 14)

- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)
- [Robot Operating System 2: Design, Architecture, and Uses In The Wild](https://mlsanity.com/paper/2211.07752/) (2022)
- [Driving in the Matrix: Can Virtual Worlds Replace Human-Generated Annotations for Real World Tasks?](https://mlsanity.com/paper/1610.01983/) (2016)
- [Playing for Benchmarks](https://mlsanity.com/paper/1709.07322/) (2017)
- [LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving](https://mlsanity.com/paper/2005.03778/) (2020)
- [F1/10: An Open-Source Autonomous Cyber-Physical Platform](https://mlsanity.com/paper/1901.08567/) (2019)
- [AutoDRIVE: A Comprehensive, Flexible and Integrated Digital Twin Ecosystem for Enhancing Autonomous Driving Research and Education](https://mlsanity.com/paper/2212.05241/) (2022)
- [AutoDRIVE Simulator: A Simulator for Scaled Autonomous Vehicle Research and Education](https://mlsanity.com/paper/2103.10030/) (2021)
- [Towards Sim2Real Transfer of Autonomy Algorithms using AutoDRIVE Ecosystem](https://mlsanity.com/paper/2307.13272/) (2023)
- [AutoDRIVE -- Technical Report](https://mlsanity.com/paper/2211.08475/) (2022)
- [Towards Mechatronics Approach of System Design, Verification and Validation for Autonomous Vehicles](https://mlsanity.com/paper/2301.13425/) (2023)
- [Nigel -- Mechatronic Design and Robust Sim2Real Control of an Over-Actuated Autonomous Vehicle](https://mlsanity.com/paper/2401.11542/) (2024)

## Built on by (most cited first, 1 of 1)

- [When Digital Twins Meet Large Language Models: Realistic, Interactive, and Editable Simulation for Autonomous Driving](https://mlsanity.com/paper/2507.00319/) (2025)

## Abstract (arXiv)

Autonomous vehicle platforms of varying spatial scales are employed within the research and development spectrum based on space, safety and monetary constraints. However, deploying and validating autonomy algorithms across varying operational scales presents challenges due to scale-specific dynamics, sensor integration complexities, computational constraints, regulatory considerations, environmental variability, interaction with other traffic participants and scalability concerns. In such a milieu, this work focuses on developing a unified framework for modeling and simulating digital twins of autonomous vehicle platforms across different scales and operational design domains (ODDs) to help support the streamlined development and validation of autonomy software stacks. Particularly, this work discusses the development of digital twin representations of 4 autonomous ground vehicles, which span across 3 different scales and target 3 distinct ODDs. We study the adoption of these autonomy-oriented digital twins to deploy a common autonomy software stack with an aim of end-to-end map-based navigation to achieve the ODD-specific objective(s) for each vehicle. Finally, we also discuss the flexibility of the proposed framework to support virtual, hybrid as well as physical testing with seamless sim2real transfer.