René's URL Explorer Experiment

Title: GitHub - OpenDriveLab/SimScale: Learning to Drive via Real-World Simulation at Scale

Open Graph Title: GitHub - OpenDriveLab/SimScale: Learning to Drive via Real-World Simulation at Scale

X Title: GitHub - OpenDriveLab/SimScale: Learning to Drive via Real-World Simulation at Scale

Description: Learning to Drive via Real-World Simulation at Scale - OpenDriveLab/SimScale

Open Graph Description: Learning to Drive via Real-World Simulation at Scale - OpenDriveLab/SimScale

X Description: Learning to Drive via Real-World Simulation at Scale - OpenDriveLab/SimScale

Mail addresses
tianhaochen2023@ia.ac.cn

Opengraph URL: https://github.com/OpenDriveLab/SimScale

X: @github

direct link

Domain: github.com

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Links:

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SimScale	https://github.com/OpenDriveLab/SimScale
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opendrivelab.com/SimScale/	https://opendrivelab.com/SimScale/
Apache-2.0 license	https://github.com/OpenDriveLab/SimScale/blob/main/LICENSE
160 stars	https://github.com/OpenDriveLab/SimScale/stargazers
14 forks	https://github.com/OpenDriveLab/SimScale/forks
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	https://github.com/OpenDriveLab/SimScale/tags
19 Commits	https://github.com/OpenDriveLab/SimScale/commits/main/
	https://github.com/OpenDriveLab/SimScale/commits/main/
assets	https://github.com/OpenDriveLab/SimScale/tree/main/assets
assets	https://github.com/OpenDriveLab/SimScale/tree/main/assets
docs	https://github.com/OpenDriveLab/SimScale/tree/main/docs
docs	https://github.com/OpenDriveLab/SimScale/tree/main/docs
download	https://github.com/OpenDriveLab/SimScale/tree/main/download
download	https://github.com/OpenDriveLab/SimScale/tree/main/download
navsim	https://github.com/OpenDriveLab/SimScale/tree/main/navsim
navsim	https://github.com/OpenDriveLab/SimScale/tree/main/navsim
scripts	https://github.com/OpenDriveLab/SimScale/tree/main/scripts
scripts	https://github.com/OpenDriveLab/SimScale/tree/main/scripts
tools	https://github.com/OpenDriveLab/SimScale/tree/main/tools
tools	https://github.com/OpenDriveLab/SimScale/tree/main/tools
traj_final	https://github.com/OpenDriveLab/SimScale/tree/main/traj_final
traj_final	https://github.com/OpenDriveLab/SimScale/tree/main/traj_final
tutorial	https://github.com/OpenDriveLab/SimScale/tree/main/tutorial
tutorial	https://github.com/OpenDriveLab/SimScale/tree/main/tutorial
.flake8	https://github.com/OpenDriveLab/SimScale/blob/main/.flake8
.flake8	https://github.com/OpenDriveLab/SimScale/blob/main/.flake8
.gitignore	https://github.com/OpenDriveLab/SimScale/blob/main/.gitignore
.gitignore	https://github.com/OpenDriveLab/SimScale/blob/main/.gitignore
.isort.cfg	https://github.com/OpenDriveLab/SimScale/blob/main/.isort.cfg
.isort.cfg	https://github.com/OpenDriveLab/SimScale/blob/main/.isort.cfg
.pre-commit-config.yaml	https://github.com/OpenDriveLab/SimScale/blob/main/.pre-commit-config.yaml
.pre-commit-config.yaml	https://github.com/OpenDriveLab/SimScale/blob/main/.pre-commit-config.yaml
LICENSE	https://github.com/OpenDriveLab/SimScale/blob/main/LICENSE
LICENSE	https://github.com/OpenDriveLab/SimScale/blob/main/LICENSE
README.md	https://github.com/OpenDriveLab/SimScale/blob/main/README.md
README.md	https://github.com/OpenDriveLab/SimScale/blob/main/README.md
environment.yml	https://github.com/OpenDriveLab/SimScale/blob/main/environment.yml
environment.yml	https://github.com/OpenDriveLab/SimScale/blob/main/environment.yml
requirements.txt	https://github.com/OpenDriveLab/SimScale/blob/main/requirements.txt
requirements.txt	https://github.com/OpenDriveLab/SimScale/blob/main/requirements.txt
setup.py	https://github.com/OpenDriveLab/SimScale/blob/main/setup.py
setup.py	https://github.com/OpenDriveLab/SimScale/blob/main/setup.py
README	https://github.com/OpenDriveLab/SimScale
Apache-2.0 license	https://github.com/OpenDriveLab/SimScale
	https://camo.githubusercontent.com/6aceb0cb4cb1af3a2c1ffedd2ad18519fe2b97b966d3fb8b1dbe6e6a93da2961/68747470733a2f2f696b2e696d6167656b69742e696f2f537461724275726765722f53696d5363616c652f7469746c655f31303830702e676966
	https://github.com/OpenDriveLab/SimScale#learning-to-drive-via-real-world-simulation-at-scale
	https://arxiv.org/abs/2511.23369
	https://opendrivelab.com/SimScale/
	https://huggingface.co/datasets/OpenDriveLab/SimScale
	https://modelscope.cn/datasets/OpenDriveLab/SimScale
	https://github.com/OpenDriveLab/SimScale/blob/main/LICENSE
	https://github.com/OpenDriveLab/SimScale/blob/main/assets/teaser.png
Haochen Tian	https://github.com/hctian713
Tianyu Li	https://github.com/sephyli
Haochen Liu	https://georgeliu233.github.io/
Jiazhi Yang	https://github.com/YTEP-ZHI
Yihang Qiu	https://github.com/gihharwtw
Guang Li	https://scholar.google.com/citations?user=McEfO8UAAAAJ&hl=en
Junli Wang	https://openreview.net/profile?id=%7EJunli_Wang4
Yinfeng Gao	https://scholar.google.com/citations?user=VTn0hqIAAAAJ&hl=en
Zhang Zhang	https://scholar.google.com/citations?user=rnRNwEMAAAAJ&hl=en
Liang Wang	https://scholar.google.com/citations?user=8kzzUboAAAAJ&hl=en
Hangjun Ye	https://scholar.google.com/citations?user=68tXhe8AAAAJ&hl=en
Tieniu Tan	https://scholar.google.com/citations?user=W-FGd_UAAAAJ&hl=en
Long Chen	https://long.ooo/
Hongyang Li	https://lihongyang.info/
𝕏	https://x.com/OpenDriveLab/status/1999507869633527845
Media	https://mp.weixin.qq.com/s/OGV3Xlb0bHSSSloG11qFJA
Slides	https://docs.google.com/presentation/d/17qbsKZU9jdw7MfiPk7hZelaLb3leR2M76gPcMkuf1MI/edit?usp=sharing
Talk (in Chinese)	https://www.bilibili.com/video/BV1tqrEBNECQ
	https://github.com/OpenDriveLab/SimScale#-highlights
	https://github.com/OpenDriveLab/SimScale#-news
paper	https://arxiv.org/abs/2511.23369
	https://github.com/OpenDriveLab/SimScale#-todo-list
	https://github.com/OpenDriveLab/SimScale#-table-of-contents
Model Zoo	https://github.com/OpenDriveLab/SimScale#%EF%B8%8F-model-zoo
Getting Started	https://github.com/OpenDriveLab/SimScale#-getting-started
Data Preparation	https://github.com/OpenDriveLab/SimScale#-data-preparation
Download Dataset	https://github.com/OpenDriveLab/SimScale#1-download-dataset
Set Up Configuration	https://github.com/OpenDriveLab/SimScale#2-set-up-configuration
Sim-Real Co-Training	https://github.com/OpenDriveLab/SimScale#%EF%B8%8F-sim-real-co-training-recipe
Co-Training with Pseudo-Expert	https://github.com/OpenDriveLab/SimScale#co-training-with-pseudo-expert
Co-Training with Rewards Only	https://github.com/OpenDriveLab/SimScale#co-training-with-rewards-only
Inference	https://github.com/OpenDriveLab/SimScale#-inference
NAVSIM v2 navhard	https://github.com/OpenDriveLab/SimScale#navsim-v2-navhard
NAVSIM v2 navtest	https://github.com/OpenDriveLab/SimScale#navsim-v2-navtest
License and Citation	https://github.com/OpenDriveLab/SimScale#-license-and-citation
	https://github.com/OpenDriveLab/SimScale#️-model-zoo
LTF	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/agent/transfuser_agent.yaml
30.3	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/LTF/ltf_sim_navhard.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/LTF/ltf_sim_navhard.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FLTF%2Fltf_sim_navtest.ckpt?id=170866
84.4	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/LTF/ltf_sim_navtest.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/LTF/ltf_sim_navtest.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FLTF%2Fltf_sim_navhard.ckpt?id=170866
DiffusionDrive	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/agent/diffusiondrive_agent.yaml
32.6	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/DiffusionDrive/diffusiondrive_sim_navhard.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/DiffusionDrive/diffusiondrive_sim_navhard.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FDiffusionDrive%2Fdiffusiondrive_sim_navhard.ckpt?id=170866
85.9	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/DiffusionDrive/diffusiondrive_sim_navtest.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/DiffusionDrive/diffusiondrive_sim_navtest.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FDiffusionDrive%2Fdiffusiondrive_sim_navtest.ckpt?id=170866
GTRS-Dense	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/agent/gtrs_dense_vov.yaml
46.1	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/GTRS_Dense/gtrs_dense_resnet_sim_expert_navhard.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/GTRS_Dense/gtrs_dense_resnet_sim_expert_navhard.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FGTRS_Dense%2Fgtrs_dense_resnet_sim_expert_navhard.ckpt?id=170866
84.0	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/GTRS_Dense/gtrs_dense_resnet_sim_expert_navtest.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/GTRS_Dense/gtrs_dense_resnet_sim_expert_navtest.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FGTRS_Dense%2Fgtrs_dense_resnet_sim_expert_navtest.ckpt?id=170866
46.9	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/GTRS_Dense/gtrs_dense_resnet_sim_expert_navhard.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/GTRS_Dense/gtrs_dense_resnet_sim_reward_navhard.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FGTRS_Dense%2Fgtrs_dense_resnet_sim_reward_navhard.ckpt?id=170866
84.6	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/GTRS_Dense/gtrs_dense_resnet_sim_reward_navtest.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/GTRS_Dense/gtrs_dense_resnet_sim_reward_navtest.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FGTRS_Dense%2Fgtrs_dense_resnet_sim_reward_navtest.ckpt?id=170866
47.7	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/GTRS_Dense/gtrs_dense_vov_sim_expert_navhard.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/GTRS_Dense/gtrs_dense_vov_sim_expert_navhard.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FGTRS_Dense%2Fgtrs_dense_vov_sim_expert_navhard.ckpt?id=170866
84.5	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/GTRS_Dense/gtrs_dense_vov_sim_expert_navtest.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/GTRS_Dense/gtrs_dense_vov_sim_expert_navtest.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FGTRS_Dense%2Fgtrs_dense_vov_sim_expert_navtest.ckpt?id=170866
48.0	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/GTRS_Dense/gtrs_dense_vov_sim_reward_navhard.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/GTRS_Dense/gtrs_dense_vov_sim_reward_navhard.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FGTRS_Dense%2Fgtrs_dense_vov_sim_reward_navhard.ckpt?id=170866
84.8	https://github.com/OpenDriveLab/SimScale/blob/main/assets/csv/GTRS_Dense/gtrs_dense_vov_sim_reward_navtest.csv
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/blob/main/SimScale_ckpts/GTRS_Dense/gtrs_dense_vov_sim_reward_navtest.ckpt
MS	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/file/view/master/SimScale_ckpts%2FGTRS_Dense%2Fgtrs_dense_vov_sim_reward_navtest.ckpt?id=170866
	https://github.com/OpenDriveLab/SimScale#-getting-started
	https://github.com/OpenDriveLab/SimScale#1-clone-simscale-repo
	https://github.com/OpenDriveLab/SimScale#2-create-environment
	https://github.com/OpenDriveLab/SimScale#-data-preparation
nuPlan	https://www.nuscenes.org/nuplan
NAVSIM	https://github.com/autonomousvision/navsim
Download NAVSIM	https://github.com/autonomousvision/navsim/blob/main/docs/install.md#2-download-the-dataset
Download NAVSIM	https://github.com/OpenDriveLab/SimScale/blob/main/docs/install.md#2-download-the-dataset
	https://github.com/OpenDriveLab/SimScale#1-download-dataset
Script (Hugging Face)	https://github.com/OpenDriveLab/SimScale/blob/main/tools/download_hf.sh
Script (ModelScope)	https://github.com/OpenDriveLab/SimScale/blob/main/tools/download_ms
OpenScene	https://github.com/OpenDriveLab/OpenScene/blob/main/docs/getting_started.md#download-data
	https://github.com/OpenDriveLab/SimScale#--overview-table-of-simulated-synthetic-data
reaction_pdm_v1.0-0	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_pdm_v1.0-0.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-0
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-0
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_pdm_v1.0-0
reaction_pdm_v1.0-1	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_pdm_v1.0-1.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-1
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-1
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_pdm_v1.0-1
reaction_pdm_v1.0-2	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_pdm_v1.0-2.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-2
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-2
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_pdm_v1.0-2
reaction_pdm_v1.0-3	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_pdm_v1.0-3.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-3
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-3
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_pdm_v1.0-3
reaction_pdm_v1.0-4	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_pdm_v1.0-4.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-4
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_pdm_v1.0-4
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_pdm_v1.0-4
reaction_recovery_v1.0-0	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_recovery_v1.0-0.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-0
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-0
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_recovery_v1.0-0
reaction_recovery_v1.0-1	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_recovery_v1.0-1.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-1
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-1
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_recovery_v1.0-1
reaction_recovery_v1.0-2	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_recovery_v1.0-2.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-2
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-2
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_recovery_v1.0-2
reaction_recovery_v1.0-3	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_recovery_v1.0-3.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-3
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-3
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_recovery_v1.0-3
reaction_recovery_v1.0-4	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtrain_reaction_recovery_v1.0-4.yaml
HF	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-4
HF_Fut	https://huggingface.co/datasets/OpenDriveLab-org/SimScale/tree/main/SimScale_data/synthetic_reaction_recovery_v1.0-4
MS	https://modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_data/synthetic_reaction_recovery_v1.0-4
	https://github.com/OpenDriveLab/SimScale#-simulation-data-pipeline
	https://github.com/OpenDriveLab/SimScale/blob/main/assets/pipeline.png
	https://github.com/OpenDriveLab/SimScale#-examples-of-simulated-synthetic-data
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/5c9694f15f9c5537.png
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/367cfa28901257ee.png
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/d37c49db3dcd59fa.png
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/5c9694f15f9c5537-sim1.gif
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/5c9694f15f9c5537-sim2.gif
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/5c9694f15f9c5537-sim3.gif
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/367cfa28901257ee-sim1.gif
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/367cfa28901257ee-sim2.gif
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/367cfa28901257ee-sim3.gif
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/d37c49db3dcd59fa-sim1.gif
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/d37c49db3dcd59fa-sim2.gif
	https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/SimScale/github/d37c49db3dcd59fa-sim3.gif
	https://github.com/OpenDriveLab/SimScale#2-set-up-configuration
Script	https://github.com/OpenDriveLab/SimScale/blob/main/tools/move.sh
	https://github.com/OpenDriveLab/SimScale#️-sim-real-co-training-recipe
	https://github.com/OpenDriveLab/SimScale#preparation
Script	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/training/run_dataset_cache.sh
ResNet34	https://huggingface.co/timm/resnet34.a1_in1k
V2_99	https://drive.google.com/file/d/1gQkhWERCzAosBwG5bh2BKkt1k0TJZt-A/view
	https://github.com/OpenDriveLab/SimScale#co-training-with-pseudo-expert
Scripts	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/training
run_diffusiondrive_training_syn.sh	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/training/run_diffusiondrive_training_syn.sh
dataset.py#136	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/training/dataset.py#L136
Script	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/training/run_transfuser_training_syn.sh
Script	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/training/run_diffusiondrive_training_syn.sh
Script	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/training/run_gtrs_dense_training_multi_syn.sh
Reward Files (Hugging Face)	https://huggingface.co/datasets/OpenDriveLab/SimScale/tree/main/SimScale_rewards
Reward Files (ModelScope)	https://www.modelscope.cn/datasets/OpenDriveLab/SimScale/tree/master/SimScale_rewards
gtrs_agent.py#223	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/agents/gtrs_dense/gtrs_agent.py#223
	https://github.com/OpenDriveLab/SimScale#co-training-with-rewards-only
Script	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/training/run_gtrs_dense_training_multi_syn.sh
	https://github.com/OpenDriveLab/SimScale#-inference
	https://github.com/OpenDriveLab/SimScale#preparation-1
Script	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/evaluation/run_metric_caching.sh
	https://github.com/OpenDriveLab/SimScale#navsim-v2-navhard
Scripts	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/evaluation_navhard
navhard	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navhard_two_stage.yaml
	https://github.com/OpenDriveLab/SimScale#navsim-v2-navtest
Scripts	https://github.com/OpenDriveLab/SimScale/blob/main/scripts/evaluation_navtest
navtest	https://github.com/OpenDriveLab/SimScale/blob/main/navsim/planning/script/config/common/train_test_split/scene_filter/navtest.yaml
	https://github.com/OpenDriveLab/SimScale#️-acknowledgements
NAVSIM	https://github.com/autonomousvision/navsim
MTGS	https://github.com/OpenDriveLab/MTGS
GTRS	https://github.com/NVlabs/GTRS
DiffusionDrive	https://github.com/hustvl/DiffusionDrive
	https://github.com/OpenDriveLab/SimScale#-license-and-citation
Apache-2.0 license	https://www.apache.org/licenses/LICENSE-2.0
nuPlan	https://www.nuscenes.org/nuplan
CC-BY-NC-SA 4.0	https://creativecommons.org/licenses/by-nc-sa/4.0/
opendrivelab.com/SimScale/	https://opendrivelab.com/SimScale/
simulation	https://github.com/topics/simulation
autonomous-driving	https://github.com/topics/autonomous-driving
co-training	https://github.com/topics/co-training
sim-to-real	https://github.com/topics/sim-to-real
data-scaling-laws	https://github.com/topics/data-scaling-laws
Readme	https://github.com/OpenDriveLab/SimScale#readme-ov-file
Apache-2.0 license	https://github.com/OpenDriveLab/SimScale#Apache-2.0-1-ov-file
Please reload this page	https://github.com/OpenDriveLab/SimScale
Activity	https://github.com/OpenDriveLab/SimScale/activity
Custom properties	https://github.com/OpenDriveLab/SimScale/custom-properties
160 stars	https://github.com/OpenDriveLab/SimScale/stargazers
12 watching	https://github.com/OpenDriveLab/SimScale/watchers
14 forks	https://github.com/OpenDriveLab/SimScale/forks
Report repository	https://github.com/contact/report-content?content_url=https%3A%2F%2Fgithub.com%2FOpenDriveLab%2FSimScale&report=OpenDriveLab+%28user%29
Releases 3	https://github.com/OpenDriveLab/SimScale/releases
v1.1.0 — Future Sensors Data, ModelScope Scripts and More Visualization Latest Jan 22, 2026	https://github.com/OpenDriveLab/SimScale/releases/tag/v1.1.0
+ 2 releases	https://github.com/OpenDriveLab/SimScale/releases
Packages 0	https://github.com/orgs/OpenDriveLab/packages?repo_name=SimScale
Please reload this page	https://github.com/OpenDriveLab/SimScale
Contributors 2	https://github.com/OpenDriveLab/SimScale/graphs/contributors
Please reload this page	https://github.com/OpenDriveLab/SimScale
Python 95.5%	https://github.com/OpenDriveLab/SimScale/search?l=python
Shell 3.6%	https://github.com/OpenDriveLab/SimScale/search?l=shell
Jupyter Notebook 0.9%	https://github.com/OpenDriveLab/SimScale/search?l=jupyter-notebook
	https://github.com
Terms	https://docs.github.com/site-policy/github-terms/github-terms-of-service
Privacy	https://docs.github.com/site-policy/privacy-policies/github-privacy-statement
Security	https://github.com/security
Status	https://www.githubstatus.com/
Community	https://github.community/
Docs	https://docs.github.com/
Contact	https://support.github.com?tags=dotcom-footer

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