TeraSim

<div align="center"> <p align="center"> <img src="docs/figure/logo.png" height="100px"> </p> </div> <p align="center"> <strong>Generative AI–Driven Autonomous Vehicle Simulation for Unknown Unsafe Events Discovery</strong> </p>

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Overview

TeraSim is an open-source platform for automated autonomous-vehicle (AV) simulation using generative AI. Its primary objective is to efficiently uncover real-world unknown unsafe events by automatically creating diverse and statistically realistic traffic environments.

The framework has evolved from its initial focus on planning-and-control testing to a complete simulation workflow, which now includes:

1. High-fidelity HD map generation for large-scale, accurate simulation environments
2. Generative traffic environment creation for naturalistic and adversarial scenario testing
3. Generative sensor simulation for camera and LiDAR perception validation

This expanded scope enables a unified pipeline from map generation to perception and planning validation.

🚀 Updates

• [09/29/2025]: TeraSim-World source codes are available. See TeraSim_World.md to get started.

🌎 New Feature: TeraSim-World

<img src="docs/figure/TeraSim_World.png" height="400px">

<h3 align="center"> 📄 <a href="https://arxiv.org/abs/2509.13164">arXiv</a> | 🌐 <a href="https://wjiawei.com/terasim-world-web/">Website</a> | 🎥 <a href="https://www.youtube.com/watch?v=75T1-2Ce0Ds">Video</a> </h3>

TeraSim-World automatically synthesizes geographically grounded, safety-critical data for End-to-End autonomous driving anywhere in the world.

✨ Key Capabilities:

• 🗺️ Global Coverage: Generate realistic driving scenarios for any location worldwide
• 🎯 Safety-Critical Data: Automatically create safety-critical events for E2E AV safety testing
• 🔄 NVIDIA Cosmos-Drive Compatible: Direct integration with video generation model training platforms

🚀 Source code is now available! See TeraSim_World.md for getting started guide.

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Key Capabilities

1. High-Fidelity HD Map Generation

• Tools for building city-scale, high-resolution digital twins suitable for AV testing.
• Automated conversion of real-world survey data into simulation-ready HD maps.
• Provides accurate lane geometry and traffic-control metadata for downstream simulations.

2. Generative Traffic Environment Creation

• Automated scenario generation based on large-scale naturalistic driving data.
• Adversarial scenario synthesis to reveal rare or high-risk interactions (e.g., aggressive cut-ins, unexpected pedestrian crossings).
• Integration with SUMO and third-party simulators such as CARLA and Autoware.

3. Generative Sensor Simulation

• terasim-cosmos integrates TeraSim-World with generative AI–based camera and LiDAR simulation.
• Enables perception validation and sensor pipeline testing under diverse conditions.
• Ongoing work: support for fully custom sensor models and configurable realism levels is under active development.

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System Architecture

TeraSim uses a modular monorepo design. Each package can be used independently or combined into a complete simulation pipeline.

TeraSim/
├── packages/
│   ├── terasim/            # Core simulation engine
│   ├── terasim-envgen/     # HD map and environment generation
│   ├── terasim-nde-nade/   # Naturalistic & adversarial environment algorithms
│   ├── terasim-cosmos/     # TeraSim-World integration & generative AI sensor simulation
│   ├── terasim-sensor/     # Baseline sensor utilities
│   ├── terasim-datazoo/    # Data processing utilities for real driving datasets
│   ├── terasim-service/    # RESTful API for external simulators
│   └── terasim-vis/        # Visualization and analysis tools
├── examples/               # Example configurations and scenarios
├── docs/                   # Documentation and figures
└── tests/                  # Test suites

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Installation

Quick Setup

git clone https://github.com/mcity/TeraSim.git
cd TeraSim
conda create -n terasim python=3.10 -y
conda activate terasim
./setup_environment.sh

This script installs all required Python packages and dependencies, including SUMO.

<!-- ### Docker Installation (Recommended for Production) For a containerized environment with all dependencies pre-installed: ```bash git clone https://github.com/mcity/TeraSim.git cd TeraSim docker-compose up -d --build docker-compose exec terasim bash ``` See [README_DOCKER.md](README_DOCKER.md) for detailed Docker deployment instructions. -->

Requirements

• Python 3.10–3.12
• SUMO 1.23.1 (installed by the setup script)
• Redis for service components
• gcc/g++ compilers (for Cython extensions)

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Quick Start Example

See TeraSim_World.md for Quick Start Example.

Additional examples are available in the examples/ directory.

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Contributing

Contributions are welcome. Please read the CONTRIBUTING.md guidelines and join the GitHub discussions for feedback or proposals.

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Publications

Explore our other research on autonomous driving testing!

• NDE – Learning naturalistic driving environment with statistical realism Paper | Code

• NADE – Intelligent driving intelligence test with naturalistic and adversarial environment Paper | Code

• D2RL – Dense deep reinforcement learning for AV safety validation Paper | Code

📄 License

• TeraSim Core and other packages: Apache 2.0 License
• Visualization Tools: MIT License

This project includes modified code from SumoNetVis licensed under the MIT License.