The core code of fuzzer is in ./fuzz/cure_fuzz.py.
The RL model is borrowed from https://github.com/valeoai/LearningByCheating.
Part of the PythonAPI and the map rendering code is borrowed from the official CARLA repo, which is under MIT license.
Run the following:
# Setup CARLA environment
wget http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/CARLA_0.9.6.tar.gz
mkdir carla_RL_IAs
tar -xvzf CARLA_0.9.6.tar.gz -C carla_RL_IAs
cd carla_RL_IAs
wget http://www.cs.utexas.edu/~dchen/lbc_release/navmesh/Town01.bin
wget http://www.cs.utexas.edu/~dchen/lbc_release/navmesh/Town02.bin
mv Town*.bin CarlaUE4/Content/Carla/Maps/Nav/
cd PythonAPI/carla/dist
rm carla-0.9.6-py3.5-linux-x86_64.egg
wget http://www.cs.utexas.edu/~dchen/lbc_release/egg/carla-0.9.6-py3.5-linux-x86_64.egg
# Setup environment
conda create -n carla_RL_IAs python=3.5.6
conda env update --name carla_RL_IAs --file environment_carlarl.yml
conda activate carla_RL_IAs
easy_install carla-0.9.6-py3.5-linux-x86_64.egg
cd ../../..
# Download models
wget https://github.com/marintoro/LearningByCheating/releases/download/v1.0/model_RL_IAs_only_town01_train_weather.zip
unzip model_RL_IAs_only_town01_train_weather.zip
wget https://github.com/marintoro/LearningByCheating/releases/download/v1.0/model_RL_IAs_CARLA_Challenge.zip
unzip model_RL_IAs_CARLA_Challenge.zipFirst run ./carla_RL_IAs/CarlaUE4.sh -fps=10 -benchmark -carla-port=3000 to start the CARLA environment.
Run python 00_benchmark_agent.py --suite=town2 --max-run 100 --path-folder-model model_RL_IAs_only_town01_train_weather/ --crop-sky --port=3000 to start fuzzing.