ResearchBenchmarksRendering on AirSim default, CARLA default, and SPEAR HillsideSampleFollow27Latency (ms)SPEAR12.904108.052203.2298.348Jul 7, 2026Evaluation ResultsMethodMethodLinksLatency (ms)FPSSPEARRendering Latency=2 fr...Rendering Latency=2 frames, Resolution=1920x10802026.072737.1CARLARendering Latency=2 fr...Rendering Latency=2 frames, Resolution=1920x10802026.0730.632.7SPEARRendering Latency=0 fr...Rendering Latency=0 frames, Resolution=1920x10802026.073132.3AirSimRendering Latency=0 fr...Rendering Latency=0 frames, Resolution=1920x10802026.07379.42.6