TorchDriveEnv: A Reinforcement Learning Benchmark for Autonomous Driving with Reactive, Realistic, and Diverse Non-Playable Characters

Jonathan Wilder Lavington, Ke Zhang, Vasileios Lioutas, Matthew Niedoba, Yunpeng Liu, Dylan Green, Saeid Naderiparizi, Xiaoxuan Liang, Setareh Dabiri, Adam Scibior, Berend Zwartsenberg and Frank Wood May, 2024