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About this paper
Masoud Jamshidiyan Tehrani, Jinhan Kim, Paolo Tonella
PCLA-Bridge lets unchanged CARLA-trained agents run on recorded data and other simulators without an active CARLA server. It translates sensor formats, routes, timing and control outputs at the interface. In a nuScenes replay, one agent steered through a left turn but used near-zero throttle. Eight sensor-only agents ran unmodified across three simulators; route-distance results varied, not establishing physical driving performance.
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