Before revision:  To better evaluate and improve the generalization of end-to-end driving, we introduce an open-ended and highly configurable driving simulator called PGDrive  . PGDrive first defines multiple basic road blockssuch as ramp, fork, and roundabout with configurable settings.
After revision:  To better evaluate and improve the generalization of end-to-end driving, we introduce an open-ended and highly configurable driving simulator called PGDrive , following a key feature of procedural generation. Diverse road networks are first generated by the proposed generation algorithm via sampling from elementary road blocks . PGDrive first defines multiple basic road blockssuch as ramp, fork, and roundabout with configurable settings.