add uniad/vad codebase

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.dist_test/
+*.avi
+ckpts/
+data/bench2drive/
+data/infos
+data_carla
+viz/
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# output & ckpts
+output/
+test/
+ckpts/
+ckpts
+
+# work_dirs
+**/work_dirs
+
+batchscript*
+phoenix*
+
+debug/
+*projs/
+
+INFO
+pyrightconfig.json
+.vscode/
+*.pth
+*.log
+tmp_ckpts/
+val/
+*.ipynb

README.md

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+
+<h2 align="center">
+  <img src="asserts/bench2drive.jpg" style="width: 100%; height: auto;">
+</h2>
+<h2 align="center">
+Bench2DriveZoo
+</h2>
+<h2 align="center">
+  <img src="asserts/bench2drivezoo.png" style="width: 100%; height: auto;">
+</h2>
+
+
+# Introduction
+
+- We implement training and open-loop evaluation for [BEVFormer](https://github.com/fundamentalvision/BEVFormer), [UniAD](https://github.com/OpenDriveLab/UniAD) , [VAD](https://github.com/hustvl/VAD) on [Bench2Drive](https://github.com/Thinklab-SJTU/Bench2Drive) dataset.
+- We completed the closed-loop evaluation process in Carla for Uniad and VAD on Bench2Drive.
+- We simplified the code framework by merging multiple dependencies like mmcv, mmseg, mmdet, and mmdet3d into a single library, and support the latest version of pytorch(2.3.1), which greatly facilitating installation and development.
+
+
+
+# Getting Started
+
+- [Installation](docs/INSTALL.md)
+- [Prepare Dataset](docs/INSTALL.md)
+- [Train and Open-Loop Eval](docs/TRAIN_EVAL.md)
+- [Closed-Loop Eval in Carla](docs/EVAL_IN_CARLA.md)
+- [Convert Codes from Nuscenes to Bench2Drive](docs/CONVERT_GUIDE.md)
+
+# Results and Pre-trained Models
+
+## UniAD and VAD
+
+| Method | L2 (m) 2s | Driving Score | Success Rate(%) | Config | Download |
+| :---: | :---: | :---: | :---: |  :---: |:---: |
+| UniAD-Tiny |0.80 | 32.00  |  9.54 | [config](adzoo/uniad/configs/stage2_e2e/base_e2e_b2d.py) | [Hugging Face](https://huggingface.co/rethinklab/Bench2DriveZoo/blob/main/bevformer_tiny_b2d.pth)/[Baidu Cloud](https://pan.baidu.com/s/1psr7AKYHD7CitZ30Bz-9sA?pwd=1234 )|
+| UniAD-Base |0.73 | 37.72  |  9.54 | [config](adzoo/uniad/configs/stage2_e2e/tiny_e2e_b2d.py) | [Hugging Face](https://huggingface.co/rethinklab/Bench2DriveZoo/blob/main/uniad_base_b2d.pth)/[Baidu Cloud](https://pan.baidu.com/s/11p9IUGqTax1f4W_qsdLCRw?pwd=1234) |
+| VAD        |0.91 | 39.4  | 10.0 | [config](adzoo/vad/configs/VAD/VAD_base_e2e_b2d.py) | [Hugging Face](https://huggingface.co/rethinklab/Bench2DriveZoo/blob/main/vad_b2d_base.pth)/[Baidu Cloud]( https://pan.baidu.com/s/11p9IUGqTax1f4W_qsdLCRw?pwd=1234) |
+
+## BEVFormer
+
+| Method | mAP | NDS | Config | Download |
+| :---: | :---: | :---: | :---: |  :---: |
+| BEVFormer-Tiny | 0.37 | 0.43  | [config](adzoo/bevformer/configs/bevformer/bevformer_tiny_b2d.py) | [Hugging Face](https://huggingface.co/rethinklab/Bench2DriveZoo/blob/main/bevformer_tiny_b2d.pth)/[Baidu Cloud](https://pan.baidu.com/s/1TWMs9YgKYm2DF5YfXF8i3g?pwd=1234) |
+| BEVFormer-Base | 0.63 | 0.67  | [config](adzoo/bevformer/configs/bevformer/bevformer_base_b2d.py) | [Hugging Face](https://huggingface.co/rethinklab/Bench2DriveZoo/blob/main/bevformer_base_b2d.pth)/[Baidu Cloud](https://pan.baidu.com/s/1Y4VkE1gc8BU0zJ4z2fmIkQ?pwd=1234) |
+
+
+# Related Resources
+
+- [Bench2Drive](https://github.com/Thinklab-SJTU/Bench2Drive)
+- [BEVFormer](https://github.com/fundamentalvision/BEVFormer)
+- [UniAD](https://github.com/OpenDriveLab/UniAD) 
+- [VAD](https://github.com/hustvl/VAD)