# Bench2DriveZoo

**Repository Path**: tj1652045/Bench2DriveZoo

## Basic Information

- **Project Name**: Bench2DriveZoo
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: tcp/admlp
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-06-03
- **Last Updated**: 2025-10-14

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# TCP/ADMLP Bench2Drive

# Checkpoint
- TCP
    - [Hugging Face Link](https://huggingface.co/rethinklab/Bench2DriveZoo/tree/main)
    - [Baidu Cloud Link](https://pan.baidu.com/s/1CgYscY2esIJLRepkO3FBvQ?pwd=1234)
- ADMLP
    - [Hugging Face Link](https://huggingface.co/rethinklab/Bench2DriveZoo/tree/main)
    - [Baidu Cloud Link](https://pan.baidu.com/s/1RefJxk0B4kYcnf63Vi-ISA?pwd=1234)

# Eval Json
- [TCP-only-traj](TCP/TCP-only-traj.json)

# Data Preprocess
- TCP
```bash
    # need set YOUR_Data_PATH
    python tools/gen_tcp_data.py
```

- ADMLP
```bash
    # need set YOUR_Data_PATH
    python tools/gen_admlp_data.py
```


# Training
First, set the dataset path in ``TCP/config.py`` or ``ADMLP/config.py``.
Training:
```bash
    cd Bench2Drive-Zoo/
    # TCP
    export PYTHONPATH=$PYTHONPATH:PATH_TO_TCP
    python TCP/train.py --gpus NUM_OF_GPUS
    # or
    bash TCP/train.sh # need set your PATH_TO_TCP
    # ADMLP
    export PYTHONPATH=$PYTHONPATH:PATH_TO_ADMLP
    python ADMLP/train.py --gpus NUM_OF_GPUS
    # or
    bash ADMLP/train.sh # need set your PATH_TO_ADMLP
```

# Open Loop Evaluation
```bash
    # TCP
    export PYTHONPATH=$PYTHONPATH:PATH_TO_TCP
    python TCP/test.py
    # ADMLP
    export PYTHONPATH=$PYTHONPATH:PATH_TO_ADMLP
    python ADMLP/test.py
```

# Closed Loop Evaluation    
Please follow these steps to evaluate TCP/ADMLP in Carla:

### Preparations
- Install Bench2Drive from [here](https://github.com/Thinklab-SJTU/Bench2Drive).
- Follow [this](https://github.com/Thinklab-SJTU/Bench2Drive/tree/main#setup) to install Carla.

### Link this repo to Bench2Drive

```bash
    # Add your agent code
    cd Bench2Drive/leaderboard
    mkdir team_code
    cd Bench2Drive/leaderboard/team_code
    ln -s YOUR_TEAM_AGENT ./  # link your agent code

    cd Bench2Drive/
    ln -s Bench2DriveZoo/team_code/*  ./ # link entire repo to Bench2Drive
```

### Run Evaluation 
Follow [this](https://github.com/Thinklab-SJTU/Bench2Drive?tab=readme-ov-file#eval-tools) to use evaluation tools of Bench2Drive.