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Closed Loop Evaluation

Please follow these steps to evaluate UniAD and VAD in CARLA:

Preparations

  • Install this repo as doc.
  • Clone Bench2Drive evaluation tools from here and prepare CARLA For it.

Link this repo to Bench2Drive

# Add your agent code
cd Bench2Drive/leaderboard
mkdir team_code
ln -s Bench2DriveZoo/team_code/* ./team_code    # link UniAD,VAD agents and utils 
cd ..
ln -s Bench2DriveZoo  ./                        # link entire repo to Bench2Drive.

Run evaluation

Follow this to use evaluation tools of Bench2Drive.