Paper Citation Record · LEDGER

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator

As of 15 August 2026, this Paper Citation Record lists 100 of 132 outbound references and 3 inbound Pith citation observations for arXiv:2509.08221.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2509.08221 v1

Coverage vector

measured 100 of 132 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-04T21:03:01.056901Z

measured 103 of 103 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-15T06:32:42.880941+00:00

measured 3 of 3 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-04T07:54:30.937456Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-07-01T08:05:30.846906Z

Reference resolution

100 of 132 outbound references displayed

verified exact25
verified fuzzy0
unresolved58
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External citation measurements

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Outbound references

Observation a912f260-ce40-47f0-ba89-490101fb8774 · outbound

This paper cites Tech- nical Report DOT HS 812 115, U.S.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Tech- nical Report DOT HS 812 115, U.S

Reference 1

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Observation 21207cdc-2f7e-437f-ad86-6e77a682e600 · outbound

This paper cites Electronic Imaging29(19), 70–76 (2017) https://doi.org/10.2352/issn.2470-1173.2017.19.avm-023.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Electronic Imaging29(19), 70–76 (2017) https://doi.org/10.2352/issn.2470-1173.2017.19.avm-023

Reference 2

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Observation 8ff2d9b0-bb36-453c-89a3-f39df6440d82 · outbound

This paper cites In: Proceedings of the 1st Annual Confer- ence on Robot Learning, pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: Proceedings of the 1st Annual Confer- ence on Robot Learning, pp

Reference 3

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Observation 7244513a-36d2-47a4-9d32-b5cab0a06be8 · outbound

This paper cites In: 2022 IEEE 7th International Conference on Intelligent Transportation Engineer- ing (ICITE), pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2022 IEEE 7th International Conference on Intelligent Transportation Engineer- ing (ICITE), pp

Reference 4

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Observation 6154ce1a-2c9c-43ae-85f5-f11842146dee · outbound

This paper cites In: Advances in Robotics - 5th International Conference of The Robotics Society, pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: Advances in Robotics - 5th International Conference of The Robotics Society, pp

Reference 5

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Observation 2145ba3e-83d6-4434-b11a-2e7446b17b42 · outbound

This paper cites https://doi.org/10.1145/3478586.3478600.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator https://doi.org/10.1145/3478586.3478600

Reference 6

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Observation 758f8ffd-c789-4661-aad0-30fceb18ac02 · outbound

This paper cites In: Proceedings of the 4th Inter- national Conference on Smart City Applications, pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: Proceedings of the 4th Inter- national Conference on Smart City Applications, pp

Reference 7

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Observation 73e4dcae-29fd-4cb4-a5e3-e7ececf34a65 · outbound

This paper cites In: 2021 IEEE Winter Conference on Applica- tions of Computer Vision Workshops (W ACVW), pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 IEEE Winter Conference on Applica- tions of Computer Vision Workshops (W ACVW), pp

Reference 8

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This paper cites In: 2024 IEEE/SICE International Symposium on System Integration (SII), pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2024 IEEE/SICE International Symposium on System Integration (SII), pp

Reference 9

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Observation a200e2a8-f2e5-41df-a59e-f74ae33ba17e · outbound

This paper cites In: 2022 Tenth International Symposium on Com- puting and Networking Workshops (CANDAR W), pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2022 Tenth International Symposium on Com- puting and Networking Workshops (CANDAR W), pp

Reference 10

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Observation 2da5d15f-df36-42ec-9701-1972c7d097c0 · outbound

This paper cites In: 2022 6th CAA International Conference on Vehicular Control and Intelligence (CVCI), pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2022 6th CAA International Conference on Vehicular Control and Intelligence (CVCI), pp

Reference 11

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Observation cb31f95c-a000-460f-95b4-10919038aeb9 · outbound

This paper cites IEEE Transactions on Vehicular Tech- nology72(9), 11213–11226 (2023) https://doi.org/10.1109/TVT.2023.3266940.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Transactions on Vehicular Tech- nology72(9), 11213–11226 (2023) https://doi.org/10.1109/TVT.2023.3266940

Reference 12

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Observation f1d56fbd-ac90-4331-a274-36a2e1922361 · outbound

This paper cites In: Proceedings of the Fifth International Conference on Distributed Artificial Intelligence.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: Proceedings of the Fifth International Conference on Distributed Artificial Intelligence

Reference 14

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Observation f0e2b188-1fa3-4c79-a097-a009793e92b7 · outbound

This paper cites Think2Drive: Efficient Reinforcement Learning by Thinking in Latent World Model for Quasi-Realistic Autonomous Driving (in CARLA-v2).

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Think2Drive: Efficient Reinforcement Learning by Thinking in Latent World Model for Quasi-Realistic Autonomous Driving (in CARLA-v2)

Reference 15

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Observation 54042e75-ce89-4c82-97e9-a7cc538dfc68 · outbound

This paper cites Iso-Dream: Isolating and Leveraging Noncontrollable Visual Dynamics in World Models.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Iso-Dream: Isolating and Leveraging Noncontrollable Visual Dynamics in World Models

Reference 16

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Observation c7f933bd-78f9-4a84-aab6-be2080e9159b · outbound

This paper cites Vision-Based Autonomous Car Racing Using Deep Imitative Reinforcement Learning.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Vision-Based Autonomous Car Racing Using Deep Imitative Reinforcement Learning

Reference 17

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Observation abf99830-6577-4057-bdb0-0dfe0ccadeab · outbound

This paper cites Learning to drive from a world on rails.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Learning to drive from a world on rails

Reference 18

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Observation 8d6caae0-93d2-4fa5-a5aa-8f27e8293320 · outbound

This paper cites IEEE Trans- actions on Intelligent Vehicles, 1–14 (2024) https://doi.org/10.1109/TIV.2024.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Trans- actions on Intelligent Vehicles, 1–14 (2024) https://doi.org/10.1109/TIV.2024

Reference 19

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This paper cites IEEE Transactions on Neural Networks and Learning Systems32(12), 5379– 5391 (2021) https://doi.org/10.1109/TNNLS.2021.3109284.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Transactions on Neural Networks and Learning Systems32(12), 5379– 5391 (2021) https://doi.org/10.1109/TNNLS.2021.3109284

Reference 20

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Observation 88a2c922-1f40-4d52-96d2-41010c2d65d3 · outbound

This paper cites Integrating Deep Reinforcement Learning with Model-based Path Planners for Automated Driving.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Integrating Deep Reinforcement Learning with Model-based Path Planners for Automated Driving

Reference 21

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Observation ee95bef8-8362-4431-bed8-d54fc112db55 · outbound

This paper cites In: ICRA Workshop on Open Source Software, vol.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: ICRA Workshop on Open Source Software, vol

Reference 22

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This paper cites https://github.com/autowarefoundation/autoware.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator https://github.com/autowarefoundation/autoware

Reference 23

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This paper cites A Survey on Simulators for Testing Self-Driving Cars.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator A Survey on Simulators for Testing Self-Driving Cars

Reference 24

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Observation 1ba92c12-7dd3-4185-affd-b7c9dd28e3eb · outbound

This paper cites LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving

Reference 25

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This paper cites In: 25th Pan-Hellenic Conference on Informatics, pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 25th Pan-Hellenic Conference on Informatics, pp

Reference 26

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp

Reference 27

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: Proceedings of the 31st Interna- tional Conference on Machine Learning, pp

Reference 28

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Continuous control with deep reinforcement learning

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2020 IEEE International Conference on Robotics and Automation (ICRA), pp

Reference 30

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This paper cites Nature 518(7540), 529–533 (2015) https://doi.org/10.1038/nature14236.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Nature 518(7540), 529–533 (2015) https://doi.org/10.1038/nature14236

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2022 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp

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This paper cites Multimedia Tools and Applications81(3), 3553–3576 (2022) https://doi.org/10.1007/s11042-021-11437-3.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Multimedia Tools and Applications81(3), 3553–3576 (2022) https://doi.org/10.1007/s11042-021-11437-3

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: ICMLCA 2021; 2nd International Conference on Machine Learning and 55 Computer Application, pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Accessed 2025-05-06

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 IEEE International Symposium on Robotic and Sensors Environments (ROSE), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Accessed 2025-05-06

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2022 International Conference on Advanced Robotics and Mechatronics (ICARM), pp

Reference 39

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Proximal Policy Optimization Algorithms

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 International Joint Conference on Neural Networks (IJCNN), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 26th International Conference on Automation and Computing (ICAC), pp

Reference 42

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2024 IEEE 13th Data Driven Control and Learning Systems Conference (DDCLS), pp

Reference 43

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 38th Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp

Reference 44

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This paper cites IEEE Transactions on Vehicular Technology73(2), 1567–1581 (2024) https://doi.org/10.1109/TVT.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Transactions on Vehicular Technology73(2), 1567–1581 (2024) https://doi.org/10.1109/TVT

Reference 45

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 IEEE International Intelligent Trans- portation Systems Conference (ITSC), pp

Reference 46

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Efficient Learning of Urban Driving Policies Using Bird's-Eye-View State Representations

Reference 47

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator End-to-End Urban Driving by Imitating a Reinforcement Learning Coach

Reference 48

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This paper cites In: 2021 IEEE International Conference on Image Processing (ICIP), pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 IEEE International Conference on Image Processing (ICIP), pp

Reference 49

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This paper cites In: 2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE), pp.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE), pp

Reference 50

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Observation d1527652-1a92-41bc-8e8e-28239b2c06e8 · outbound

This paper cites Domain Adaptation In Reinforcement Learning Via Latent Unified State Representation.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Domain Adaptation In Reinforcement Learning Via Latent Unified State Representation

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 IEEE 35th International Conference on Tools with Arti- ficial Intelligence (ICTAI), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2024 IEEE Intelli- gent Vehicles Symposium (IV), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 28th IEEE International Conference on Electronics, Circuits, and Systems (ICECS), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator GRI: General Reinforced Imitation and its Application to Vision-Based Autonomous Driving

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2024 2nd International Conference on Electrical Engineering and Automatic Control (ICEEAC), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2022 International Conference on Innovation and Intelligence for Informatics, Computing, and Technologies (3ICT), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator End-to-End Model-Free Reinforcement Learning for Urban Driving using Implicit Affordances

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 International Seminar on Intelligent Technology and Its Applications (ISITIA), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Sensors Journal22(5), 4687–4696 (2022) https://doi.org/10

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2020 IEEE Global Conference on Artificial Intelligence and Internet of Things (GCAIoT), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator DeFIX: Detecting and Fixing Failure Scenarios with Reinforcement Learning in Imitation Learning Based Autonomous Driving

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 7th International Conference on Computer and Communications (ICCC), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator https://dl.acm.org/doi/10.1145/3605098.3635992 Accessed 2025-05-06

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2020 11th International Conference on Information and Communication Systems (ICICS), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Neural computation3(1), 88–97 (1991)

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Navigation In Urban Environments Amongst Pedestrians Using Multi-Objective Deep Reinforcement Learning

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Advances in neural information processing systems30(2017)

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2021 International Joint Conference on Neural Networks (IJCNN), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Advances in neural information processing systems29(2016)

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator A New H I Survey of Active Galaxies

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Advances in neural information processing systems31(2018)

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Access9, 93152–93164 (2021) https://doi.org/10.1109/ACCESS.2021.3085142

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 7th CAA International Conference on Vehicular Control and Intelligence (CVCI), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 IEEE Latin American Conference on Computational Intelligence (LA-CCI), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: Proceedings of the 35th International Confer- ence on Machine Learning, pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator Learning to Drive Using Sparse Imitation Reinforcement Learning

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 IEEE Intelli- gent Vehicles Symposium (IV), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence (DTPI), pp

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This paper cites IEEE Trans- actions on Cognitive and Developmental Systems16(5), 1759–1774 (2024) https://doi.org/10.1109/TCDS.2024.3384269.

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Trans- actions on Cognitive and Developmental Systems16(5), 1759–1774 (2024) https://doi.org/10.1109/TCDS.2024.3384269

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Observation c30c2f79-88cb-4e6d-968e-ce0394735c33 · outbound

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator In: 2019 18th IEEE International Conference On Machine Learning And Applications (ICMLA), pp

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Trans- actions on Vehicular Technology72(3), 2921–2935 (2023) https://doi.org/10

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator A Versatile and Efficient Reinforcement Learning Framework for Autonomous Driving

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Observation 3d104117-37c0-43c4-8fd4-4e48f1f35cbe · outbound

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Transactions on Intelligent Vehicles (2024)

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A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator IEEE Access9, 154553–154562 (2021) https://doi.org/10.1109/ACCESS.2021

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Observation f8ab163e-bf76-4d60-ab04-3fef8ff30d0c · outbound

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No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Pith citing papers

Observation 89ab1a19-e0ee-40c0-bcb0-6abc4447173f · inbound

Zero-Human Demonstration End-to-end Autonomous Driving with Trajectory Scorer cites this paper.

Zero-Human Demonstration End-to-end Autonomous Driving with Trajectory Scorer A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator

Reference 2024

Resolution: unresolved; no resolver link, observed 2026-08-04T07:54:30.937456Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 025a5407-9f52-4816-814f-ae9286dda52f · inbound

Sim2Real-AD: A Modular Sim-to-Real Framework for Deploying VLM-Guided Reinforcement Learning in Real-World Autonomous Driving cites this paper.

Sim2Real-AD: A Modular Sim-to-Real Framework for Deploying VLM-Guided Reinforcement Learning in Real-World Autonomous Driving A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator

Reference 1

Resolution: metadata mismatch; arxiv_id, observed 2026-05-13T18:23:06.437782Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 9be2670b-3633-4341-bf7f-fe21436340cd · inbound

Dreaming Across Towns: Semantic Rollout and Town-Adversarial Regularization for Zero-Shot Held-Out-Town Fixed-Route Driving in CARLA cites this paper.

Dreaming Across Towns: Semantic Rollout and Town-Adversarial Regularization for Zero-Shot Held-Out-Town Fixed-Route Driving in CARLA A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator

Reference 33

Resolution: verified exact; arxiv_id, observed 2026-07-01T08:05:30.849392Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.