nuCarla: A nuScenes-Style Bird's-Eye View Perception Dataset for CARLA Simulation

Abstract: End-to-end (E2E) autonomous driving heavily relies on closed-loop simulation, where perception, planning, and control are jointly trained and evaluated in interactive environments. Yet, most existing datasets are collected from the real world under non-interactive conditions, primarily supporting open-loop learning while offering limited value for closed-loop testing. Due to the lack of standardized, large-scale, and thoroughly verified datasets to facilitate learning of meaningful intermediate representations, such as bird's-eye-view (BEV) features, closed-loop E2E models remain far behind even simple rule-based baselines. To address this challenge, we introduce nuCarla, a large-scale, nuScenes-style BEV perception dataset built within the CARLA simulator. nuCarla features (1) full compatibility with the nuScenes format, enabling seamless transfer of real-world perception models; (2) a dataset scale comparable to nuScenes, but with more balanced class distributions; (3) direct usability for closed-loop simulation deployment; and (4) high-performance BEV backbones that achieve state-of-the-art detection results. By providing both data and models as open benchmarks, nuCarla substantially accelerates closed-loop E2E development, paving the way toward reliable and safety-aware research in autonomous driving.