---
license: apache-2.0
task_categories:
- robotics
language:
- en
tags:
- Autonomous-Driving
- Simulation
---

<div id="top" align="center">

<p align="center">
  <img src="https://ik.imagekit.io/StarBurger/SimScale/title_1080p.gif">
</p>

# **Learning to Drive via Real-World Simulation at Scale**

[![Paper](https://img.shields.io/badge/ArXiv-A42C25?style=for-the-badge&logo=arxiv&logoColor=white)](https://arxiv.org/abs/2511.23369)
[![Home](https://img.shields.io/badge/project_page-5F259F?style=for-the-badge&logo=homepage&logoColor=white)](https://opendrivelab.com/SimScale/) 
[![GitHub](https://img.shields.io/badge/github-181717?style=for-the-badge&logo=github&logoColor=white)](https://github.com/OpenDriveLab/SimScale) 
[![Hugging Face](https://img.shields.io/badge/hugging_face-ffc107?style=for-the-badge&logo=huggingface&logoColor=white)](https://huggingface.co/datasets/OpenDriveLab/SimScale) 
[![ModelScope](https://img.shields.io/badge/modelscope-624AFF?style=for-the-badge&logo=modelscope&logoColor=white)](https://modelscope.cn/datasets/OpenDriveLab/SimScale) 
[![License](https://img.shields.io/badge/Apache--2.0-019B8F?style=for-the-badge&logo=apache)](https://github.com/OpenDriveLab/SimScale/blob/main/LICENSE) 

</div>

<div id="top" align="center">
<p align="center">
<img src="assets/teaser.png" >
</p>
</div>


> [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/)
> 
>
> - 📧 Primary Contact: Haochen Tian (tianhaochen2023@ia.ac.cn)
> - 📜 Materials: 🌐 [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)
> - 🖊️ Joint effort by CASIA, OpenDriveLab at HKU, and Xiaomi EV.

---

## 🔥 Highlights 

- 🏗️ A scalable simulation pipepline that synthesizes diverse and high-fidelity reactive driving scenarios with pseudo-expert demonstrations. 
- 🚀 An effective sim-real co-training strategy that improves robustness and generalization synergistically across various end-to-end planners. 
- 🔬 A comprehensive recipe that reveals crucial insights into the underlying scaling properties of sim-real learning systems for end-to-end autonomy.