Before revision:  We further validate that training with the increasing number of procedurally generated maps significantly improves the generalization of the agent across scenarios of different traffic densities and map structures. Code is available at : URL
After revision:  We further validate that training with the increasing number of procedurally generated maps significantly improves the generalization of the agent across scenarios of different traffic densities and road networks. Many applications such as multi-agent traffic simulation and safe driving benchmark can be further built upon the simulator. To facilitate the joint research effort of end-to-end driving, we release the simulator and pretrained models at URL