CarlaAir

louiszengCN/CarlaAir is ranked 5,839 among these 8 peers; luchris429/purejaxrl is ranked 5,840.

CARLA-Air: Fly Drones Inside a CARLA World A Unified Infrastructure for Air-Ground Embodied Intelligence **CARLA-Air** is an open-source infrastructure that unifies high-fidelity urban driving and physics-accurate multirotor flight within a single Unreal Engine process, providing a practical simulation foundation for air-ground embodied intelligence research. **[2026-04-17]** 🌐 **Project page is live! **[2026-04-16]** $\color{red}{\textbf{Windows pre-built package is now available. Only 3 upstream files modified (~35 lines). | | 🎯 **Absolute Coordinate

Alignment** | Exact error between CARLA (left-handed) and AirSim (NED) coordinate frames. | | 🔄 **Zero-Modification Code Migration** | Existing CARLA and AirSim Python scripts and ROS 2 nodes run on CARLA-Air without any code changes. | | ⚡ **~20 FPS Joint Workloads** | Moderate joint configuration (vehicles + drone + 8 sensors) sustains 19. † Pedestrian AI is inherited from CARLA and fully functional; behavior under high actor density in joint scenarios is an active engineering target. Option B: Build from Source Please refer to the Build Guide

for detailed instructions on compiling CARLA-Air with UE4. ) | | | Toggle Collision Mode (Physics vs. 26) [x] FPS drone control (WASD + Mouse) [x] Auto traffic spawn (vehicles + pedestrians) [x] 18-channel synchronized sensors [x] Dual Python API (CARLA + AirSim) [x] ROS2 validation (63 topics) [x] One-click environment setup [x] Recording toolkit (vehicle, drone, pedestrian trajectories) [x] Technical report (PDF) [x] Project page (carla-air. We sincerely thank the developers of: CARLA Simulator (MIT License) Microsoft AirSim (MIT License) Unreal Engine

CARLA-Air specific code is distributed under the **MIT License**. CARLA specific assets are distributed under the CC-BY License.