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. Then a range of diverse maps can be assembled from those blocks with procedural generation, which are further turned into interactive environments.
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 . Then they are turned into interactive environments.