We provide a detailed instruction of how to install Safebench in either local machine or docker container.

Local Installation

Step 1. Setup Safebench

We recommand using anaconda for creating a clean environment.

conda create -n safebench python=3.8
conda activate safebench

Then, clone the code from github in an appropriate folder with

git clone

Enter the folder of safebench and install some necessary packages

cd SafeBench
pip install -r requirements.txt
pip install -e .

Step 2. Setup Carla

Download our built CARLA_0.9.13 and extract it to your folder with

mkdir carla && cd carla
tar -zxvf CARLA_0.9.13_safebench_2.tar.gz

Add the Python API of Carla to the PYTHONPATH environment variable. You can add the following commands to your ~/.bashrc:

export CARLA_ROOT={path/to/your/carla}
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py3.8-linux-x86_64.egg
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/agents

Potential Issue

Run sudo apt install libomp5 as per this git issue.

Docker Installation

We also provide a docker image with CARLA and SafeBench installed. Use the following command to launch a docker container:

bash docker/

The CARLA simulator is installed at /home/safebench/carla and SafeBench is installed at /home/safebench/SafeBench.