# RealDriveSim: A Realistic Multi-Modal Multi-Task Synthetic Dataset for Autonomous Driving

arXiv: https://arxiv.org/abs/2506.16319 · HTML: https://mlsanity.com/paper/2506.16319/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 36 references that are in the map.
- First posted on arXiv 19 Jun 2025.

## Builds on (most cited first, 30 of 30)

- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [MMDetection: Open MMLab Detection Toolbox and Benchmark](https://mlsanity.com/paper/1906.07155/) (2019)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [A Survey on Multi-Task Learning](https://mlsanity.com/paper/1707.08114/) (2017)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [DAFormer: Improving Network Architectures and Training Strategies for Domain-Adaptive Semantic Segmentation](https://mlsanity.com/paper/2111.14887/) (2021)
- [DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detection](https://mlsanity.com/paper/2203.08195/) (2022)
- [Semi-Supervised Semantic Segmentation Using Unreliable Pseudo-Labels](https://mlsanity.com/paper/2203.03884/) (2022)
- [Playing for Benchmarks](https://mlsanity.com/paper/1709.07322/) (2017)
- [IDD: A Dataset for Exploring Problems of Autonomous Navigation in Unconstrained Environments](https://mlsanity.com/paper/1811.10200/) (2018)
- [SHIFT: A Synthetic Driving Dataset for Continuous Multi-Task Domain Adaptation](https://mlsanity.com/paper/2206.08367/) (2022)
- [SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances](https://mlsanity.com/paper/2002.09147/) (2020)
- [Synscapes: A Photorealistic Synthetic Dataset for Street Scene Parsing](https://mlsanity.com/paper/1810.08705/) (2018)
- [Transfer Learning from Synthetic to Real LiDAR Point Cloud for Semantic Segmentation](https://mlsanity.com/paper/2107.05399/) (2021)
- [Scribble-Supervised LiDAR Semantic Segmentation](https://mlsanity.com/paper/2203.08537/) (2022)
- [Semi-supervised Semantic Segmentation with Error Localization Network](https://mlsanity.com/paper/2204.02078/) (2022)
- [MulT: An End-to-End Multitask Learning Transformer](https://mlsanity.com/paper/2205.08303/) (2022)
- [SynWoodScape: Synthetic Surround-view Fisheye Camera Dataset for Autonomous Driving](https://mlsanity.com/paper/2203.05056/) (2022)
- [IDDA: a large-scale multi-domain dataset for autonomous driving](https://mlsanity.com/paper/2004.08298/) (2020)
- [Precise Synthetic Image and LiDAR (PreSIL) Dataset for Autonomous Vehicle Perception](https://mlsanity.com/paper/1905.00160/) (2019)
- [Weakly Supervised Semantic Segmentation for Large-Scale Point Cloud](https://mlsanity.com/paper/2212.04744/) (2022)
- [Reliability in Semantic Segmentation: Can We Use Synthetic Data?](https://mlsanity.com/paper/2312.09231/) (2023)
- [ACDC: The Adverse Conditions Dataset with Correspondences for Robust Semantic Driving Scene Perception](https://mlsanity.com/paper/2104.13395/) (2021)
- [AmodalSynthDrive: A Synthetic Amodal Perception Dataset for Autonomous Driving](https://mlsanity.com/paper/2309.06547/) (2023)
- [Discwise Active Learning for LiDAR Semantic Segmentation](https://mlsanity.com/paper/2309.13276/) (2023)

## Built on by (most cited first, 3 of 3)

- [The LUMirage: An independent evaluation of zero-shot performance in the LUMIR challenge](https://mlsanity.com/paper/2512.15505/) (2025)
- [GeoWorldAD: Geometry World Action Model for Autonomous Driving](https://mlsanity.com/paper/2607.17521/) (2026)
- [Probabilistic Hyper-Graphs using Multiple Randomly Masked Autoencoders for Semi-supervised Multi-modal Multi-task Learning](https://mlsanity.com/paper/2510.10068/) (2025)

## Abstract (arXiv)

As perception models continue to develop, the need for large-scale datasets increases. However, data annotation remains far too expensive to effectively scale and meet the demand. Synthetic datasets provide a solution to boost model performance with substantially reduced costs. However, current synthetic datasets remain limited in their scope, realism, and are designed for specific tasks and applications. In this work, we present RealDriveSim, a realistic multi-modal synthetic dataset for autonomous driving that not only supports popular 2D computer vision applications but also their LiDAR counterparts, providing fine-grained annotations for up to 64 classes. We extensively evaluate our dataset for a wide range of applications and domains, demonstrating state-of-the-art results compared to existing synthetic benchmarks. The dataset is publicly available at https://realdrivesim.github.io/.