R-CARLA integrates custom vehicle dynamics, opponents, and digital-twin maps into CARLA, reporting reduced sim-to-real gaps for racing stacks, but its sensor-simulation improvement is not measured against real sensor data.
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R-CARLA: High-Fidelity Sensor Simulations with Interchangeable Dynamics for Autonomous Racing
R-CARLA integrates custom vehicle dynamics, opponents, and digital-twin maps into CARLA, reporting reduced sim-to-real gaps for racing stacks, but its sensor-simulation improvement is not measured against real sensor data.