Native CARLA + SUMO v2: six complete driving scenarios

Native CARLA + SUMO: complete six-scene v2

Six full native CARLA 0.9.16 recordings use its built-in Tesla Model 3, real RGB/instance cameras and LiDAR. The ego vehicle is already moving in the first recorded frame. Dynamic native traffic, ramp actions, opposing-vehicle yielding at a wider intersection, and roundabout yielding/exit are checked against the actual recorded frames.

Each scene has four complete MP4 files: three native camera/sensor views and one CARLA + native SUMO GUI four-pane view. All retain every 20 Hz source frame at the original speed, with no added titles or HUD. Six-second README GIFs are previews only; the full videos are attached below.

• highway: 334 original frames, 16.7 seconds.
• ramp-entry: 487 original frames, 24.35 seconds.
• ramp-exit: 476 original frames, 23.8 seconds.
• left-turn: 580 original frames, 29.0 seconds.
• roundabout: 1001 original frames, 50.05 seconds.
• live-highway: 334 original frames, 16.7 seconds.

Evidence scope and limits:

• SUMO GUI panes are post-capture replay, including the independently verified live source.
• Simulator-label boxes are ground truth assisted image processing, not learned detection.
• Vehicle separation checks sample recorded world frames, not continuous-time safety guarantees.
• Manual sample review is disclosed separately from full automated video decoding.
• Left-turn SUMO replay retains one empty lane field for a background vehicle at a connected road endpoint (sample 501, native frame 1200430, 0.058394 m from the endpoint). Its complete footprint is outside the actual native GUI viewport. All ego lane fields and all source poses, times and images remain verified; all-actor lane membership is explicitly false. The original strict FAIL is preserved and no lane or pose was filled or modified.
• Roundabout SUMO replay retains 16 empty lane fields: two visible ego samples at connected normal/internal endpoints within 0.1 m and 14 consecutive samples (41-54) of background road44/-5 outside the actual viewport. All-actor and all-ego lane membership are false, while exact full source poses/times and original PNG hashes pass. The original strict FAIL remains; lanes and poses were not repaired. Independent native GUI repeats match actual viewport and all poses and differ by at most 4 pixels; measured PSNR is disclosed, not claimed identical bytes. This is post-capture GUI representation, not a new closed-loop roundabout run.
• Native Traffic Manager routes are requests, not guaranteed path constraints; acceptance uses actual captured motion, body separation and scenario actions.
• The live-highway source separately passed actual official two-way CARLA/SUMO co-simulation checks. Every displayed SUMO GUI pane is explicitly a post-capture synchronized replay.
• Image processing uses native simulator instance labels and RGB edges. LiDAR processing uses actual sensor points, voxel filtering and fitted-ground removal. No trained detector or learned driving policy is claimed.

Cleanup runs after this upload succeeds and all public resources pass full remote byte/SHA-256 verification. It removes only reviewed obsolete generated binaries; source code, maps, metadata and audit history remain.