ScenarioNet is a scenario database management system tightly coupled with MetaDrive. It provides tools for converting Waymo, nuScenes, nuPlan, Argoverse and other driving data into the format that can be read by MetaDrive simulator. In this way, thousands of scenarios can be reconstructed in MetaDrive for various machine learning applications.

This figure shows the role of MetaDrive simulator and ScenarioNet respectively. MetaDrive aims at providing support for high-level application, while ScenarioNet lays the foundation for preparing and maintaining the driving data. More information about ScenarioNet is as follows: