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CARLAverse: A Highly Modular, Distributed, and Multimodal Framework for Human-in-the-Loop Simulation

arXiv · AI, language, vision and robotics · article · Sep 10, 2026 · UTC

The development of autonomous driving demands comprehensive testing in mixed-traffic scenarios involving vulnerable road users (VRUs), where purely artificial agents often fail to capture authentic human social negotiations. While human-in-the-loop (HITL) simulators enable safe investigation of these interactions, existing multi-agent platforms struggle with the network latency and synchronization constraints required for high-fidelity haptic feedback. To resolve this, we present CARLAverse, an open-source, multimodal simulation ecosystem. Extending modular hardware abstraction, CARLAverse int

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