Hi, There is a simulation environment. Much of the work we do is done in simulation first before it is tested on the robot. For an example you can take a look at the AI-DO challenges page: https://challenges.duckietown.org/v4/ where you can see some submissions being evaluated in the simulator.

Yes, we have a simulation environment.

You can see it on https://challenges.duckietown.org/v4 , the challenges server for the AI Driving Olympics: https://aido.duckietown.org