diff --git a/adzoo/bevformer/configs/bevformer/bevformer_base_b2d.py b/adzoo/bevformer/configs/bevformer/bevformer_base_b2d.py
index 7ba92d7..a586e5c 100644
--- a/adzoo/bevformer/configs/bevformer/bevformer_base_b2d.py
+++ b/adzoo/bevformer/configs/bevformer/bevformer_base_b2d.py
@@ -11,10 +11,6 @@
 point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
 voxel_size = [0.2, 0.2, 8]
 
-
-
-
-
 NameMapping = {
     #=================vehicle=================
     # bicycle
@@ -22,6 +18,7 @@
     "vehicle.diamondback.century": 'bicycle',
     "vehicle.gazelle.omafiets": 'bicycle',
     # car
+    "vehicle.audi.etron": 'car',
     "vehicle.chevrolet.impala": 'car',
     "vehicle.dodge.charger_2020": 'car',
     "vehicle.dodge.charger_police": 'car',
@@ -77,19 +74,30 @@
 
     #=================pedestrian==============
     "walker.pedestrian.0001": 'pedestrian',
+    "walker.pedestrian.0003": 'pedestrian',
     "walker.pedestrian.0004": 'pedestrian',
     "walker.pedestrian.0005": 'pedestrian',
     "walker.pedestrian.0007": 'pedestrian',
+    "walker.pedestrian.0010": 'pedestrian',
     "walker.pedestrian.0013": 'pedestrian',
     "walker.pedestrian.0014": 'pedestrian',
+    "walker.pedestrian.0015": 'pedestrian',
+    "walker.pedestrian.0016": 'pedestrian',
     "walker.pedestrian.0017": 'pedestrian',
     "walker.pedestrian.0018": 'pedestrian',
     "walker.pedestrian.0019": 'pedestrian',
     "walker.pedestrian.0020": 'pedestrian',
+    "walker.pedestrian.0021": 'pedestrian',
     "walker.pedestrian.0022": 'pedestrian',
     "walker.pedestrian.0025": 'pedestrian',
+    "walker.pedestrian.0027": 'pedestrian',
+    "walker.pedestrian.0030": 'pedestrian',
+    "walker.pedestrian.0031": 'pedestrian',
+    "walker.pedestrian.0032": 'pedestrian',
+    "walker.pedestrian.0034": 'pedestrian',
     "walker.pedestrian.0035": 'pedestrian',
     "walker.pedestrian.0041": 'pedestrian',
+    "walker.pedestrian.0042": 'pedestrian',
     "walker.pedestrian.0046": 'pedestrian',
     "walker.pedestrian.0047": 'pedestrian',
 
@@ -98,9 +106,6 @@
     "static.prop.dirtdebris02": 'others',
 }
 
-
-
-
 eval_cfg = {
             "dist_ths": [0.5, 1.0, 2.0, 4.0],
             "dist_th_tp": 2.0,
diff --git a/adzoo/bevformer/configs/bevformer/bevformer_tiny_b2d.py b/adzoo/bevformer/configs/bevformer/bevformer_tiny_b2d.py
index d4f92f7..79b01b4 100644
--- a/adzoo/bevformer/configs/bevformer/bevformer_tiny_b2d.py
+++ b/adzoo/bevformer/configs/bevformer/bevformer_tiny_b2d.py
@@ -11,10 +11,6 @@
 point_cloud_range = [-51.2, -51.2, -5.0, 51.2, 51.2, 3.0]
 voxel_size = [0.2, 0.2, 8]
 
-
-
-
-
 NameMapping = {
     #=================vehicle=================
     # bicycle
@@ -22,6 +18,7 @@
     "vehicle.diamondback.century": 'bicycle',
     "vehicle.gazelle.omafiets": 'bicycle',
     # car
+    "vehicle.audi.etron": 'car',
     "vehicle.chevrolet.impala": 'car',
     "vehicle.dodge.charger_2020": 'car',
     "vehicle.dodge.charger_police": 'car',
@@ -77,19 +74,30 @@
 
     #=================pedestrian==============
     "walker.pedestrian.0001": 'pedestrian',
+    "walker.pedestrian.0003": 'pedestrian',
     "walker.pedestrian.0004": 'pedestrian',
     "walker.pedestrian.0005": 'pedestrian',
     "walker.pedestrian.0007": 'pedestrian',
+    "walker.pedestrian.0010": 'pedestrian',
     "walker.pedestrian.0013": 'pedestrian',
     "walker.pedestrian.0014": 'pedestrian',
+    "walker.pedestrian.0015": 'pedestrian',
+    "walker.pedestrian.0016": 'pedestrian',
     "walker.pedestrian.0017": 'pedestrian',
     "walker.pedestrian.0018": 'pedestrian',
     "walker.pedestrian.0019": 'pedestrian',
     "walker.pedestrian.0020": 'pedestrian',
+    "walker.pedestrian.0021": 'pedestrian',
     "walker.pedestrian.0022": 'pedestrian',
     "walker.pedestrian.0025": 'pedestrian',
+    "walker.pedestrian.0027": 'pedestrian',
+    "walker.pedestrian.0030": 'pedestrian',
+    "walker.pedestrian.0031": 'pedestrian',
+    "walker.pedestrian.0032": 'pedestrian',
+    "walker.pedestrian.0034": 'pedestrian',
     "walker.pedestrian.0035": 'pedestrian',
     "walker.pedestrian.0041": 'pedestrian',
+    "walker.pedestrian.0042": 'pedestrian',
     "walker.pedestrian.0046": 'pedestrian',
     "walker.pedestrian.0047": 'pedestrian',
 
@@ -98,9 +106,6 @@
     "static.prop.dirtdebris02": 'others',
 }
 
-
-
-
 eval_cfg = {
             "dist_ths": [0.5, 1.0, 2.0, 4.0],
             "dist_th_tp": 2.0,
diff --git a/adzoo/uniad/configs/stage1_track_map/base_track_map_b2d.py b/adzoo/uniad/configs/stage1_track_map/base_track_map_b2d.py
index a5c7123..cc52a12 100644
--- a/adzoo/uniad/configs/stage1_track_map/base_track_map_b2d.py
+++ b/adzoo/uniad/configs/stage1_track_map/base_track_map_b2d.py
@@ -27,6 +27,7 @@
     "vehicle.diamondback.century": 'bicycle',
     "vehicle.gazelle.omafiets": 'bicycle',
     # car
+    "vehicle.audi.etron": 'car',
     "vehicle.chevrolet.impala": 'car',
     "vehicle.dodge.charger_2020": 'car',
     "vehicle.dodge.charger_police": 'car',
@@ -82,19 +83,30 @@
 
     #=================pedestrian==============
     "walker.pedestrian.0001": 'pedestrian',
+    "walker.pedestrian.0003": 'pedestrian',
     "walker.pedestrian.0004": 'pedestrian',
     "walker.pedestrian.0005": 'pedestrian',
     "walker.pedestrian.0007": 'pedestrian',
+    "walker.pedestrian.0010": 'pedestrian',
     "walker.pedestrian.0013": 'pedestrian',
     "walker.pedestrian.0014": 'pedestrian',
+    "walker.pedestrian.0015": 'pedestrian',
+    "walker.pedestrian.0016": 'pedestrian',
     "walker.pedestrian.0017": 'pedestrian',
     "walker.pedestrian.0018": 'pedestrian',
     "walker.pedestrian.0019": 'pedestrian',
     "walker.pedestrian.0020": 'pedestrian',
+    "walker.pedestrian.0021": 'pedestrian',
     "walker.pedestrian.0022": 'pedestrian',
     "walker.pedestrian.0025": 'pedestrian',
+    "walker.pedestrian.0027": 'pedestrian',
+    "walker.pedestrian.0030": 'pedestrian',
+    "walker.pedestrian.0031": 'pedestrian',
+    "walker.pedestrian.0032": 'pedestrian',
+    "walker.pedestrian.0034": 'pedestrian',
     "walker.pedestrian.0035": 'pedestrian',
     "walker.pedestrian.0041": 'pedestrian',
+    "walker.pedestrian.0042": 'pedestrian',
     "walker.pedestrian.0046": 'pedestrian',
     "walker.pedestrian.0047": 'pedestrian',
 
diff --git a/adzoo/uniad/configs/stage1_track_map/tiny_track_map_b2d.py b/adzoo/uniad/configs/stage1_track_map/tiny_track_map_b2d.py
index c94ff40..af66f73 100644
--- a/adzoo/uniad/configs/stage1_track_map/tiny_track_map_b2d.py
+++ b/adzoo/uniad/configs/stage1_track_map/tiny_track_map_b2d.py
@@ -27,6 +27,7 @@
     "vehicle.diamondback.century": 'bicycle',
     "vehicle.gazelle.omafiets": 'bicycle',
     # car
+    "vehicle.audi.etron": 'car',
     "vehicle.chevrolet.impala": 'car',
     "vehicle.dodge.charger_2020": 'car',
     "vehicle.dodge.charger_police": 'car',
@@ -82,19 +83,30 @@
 
     #=================pedestrian==============
     "walker.pedestrian.0001": 'pedestrian',
+    "walker.pedestrian.0003": 'pedestrian',
     "walker.pedestrian.0004": 'pedestrian',
     "walker.pedestrian.0005": 'pedestrian',
     "walker.pedestrian.0007": 'pedestrian',
+    "walker.pedestrian.0010": 'pedestrian',
     "walker.pedestrian.0013": 'pedestrian',
     "walker.pedestrian.0014": 'pedestrian',
+    "walker.pedestrian.0015": 'pedestrian',
+    "walker.pedestrian.0016": 'pedestrian',
     "walker.pedestrian.0017": 'pedestrian',
     "walker.pedestrian.0018": 'pedestrian',
     "walker.pedestrian.0019": 'pedestrian',
     "walker.pedestrian.0020": 'pedestrian',
+    "walker.pedestrian.0021": 'pedestrian',
     "walker.pedestrian.0022": 'pedestrian',
     "walker.pedestrian.0025": 'pedestrian',
+    "walker.pedestrian.0027": 'pedestrian',
+    "walker.pedestrian.0030": 'pedestrian',
+    "walker.pedestrian.0031": 'pedestrian',
+    "walker.pedestrian.0032": 'pedestrian',
+    "walker.pedestrian.0034": 'pedestrian',
     "walker.pedestrian.0035": 'pedestrian',
     "walker.pedestrian.0041": 'pedestrian',
+    "walker.pedestrian.0042": 'pedestrian',
     "walker.pedestrian.0046": 'pedestrian',
     "walker.pedestrian.0047": 'pedestrian',
 
diff --git a/adzoo/uniad/configs/stage2_e2e/base_e2e_b2d.py b/adzoo/uniad/configs/stage2_e2e/base_e2e_b2d.py
index 16b39f1..15a41fa 100644
--- a/adzoo/uniad/configs/stage2_e2e/base_e2e_b2d.py
+++ b/adzoo/uniad/configs/stage2_e2e/base_e2e_b2d.py
@@ -10,6 +10,7 @@
 voxel_size = [0.2, 0.2, 8]
 patch_size = [102.4, 102.4]
 img_norm_cfg = dict(mean=[103.530, 116.280, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False)
+
 NameMapping = {
     #=================vehicle=================
     # bicycle
@@ -17,6 +18,7 @@
     "vehicle.diamondback.century": 'bicycle',
     "vehicle.gazelle.omafiets": 'bicycle',
     # car
+    "vehicle.audi.etron": 'car',
     "vehicle.chevrolet.impala": 'car',
     "vehicle.dodge.charger_2020": 'car',
     "vehicle.dodge.charger_police": 'car',
@@ -72,19 +74,30 @@
 
     #=================pedestrian==============
     "walker.pedestrian.0001": 'pedestrian',
+    "walker.pedestrian.0003": 'pedestrian',
     "walker.pedestrian.0004": 'pedestrian',
     "walker.pedestrian.0005": 'pedestrian',
     "walker.pedestrian.0007": 'pedestrian',
+    "walker.pedestrian.0010": 'pedestrian',
     "walker.pedestrian.0013": 'pedestrian',
     "walker.pedestrian.0014": 'pedestrian',
+    "walker.pedestrian.0015": 'pedestrian',
+    "walker.pedestrian.0016": 'pedestrian',
     "walker.pedestrian.0017": 'pedestrian',
     "walker.pedestrian.0018": 'pedestrian',
     "walker.pedestrian.0019": 'pedestrian',
     "walker.pedestrian.0020": 'pedestrian',
+    "walker.pedestrian.0021": 'pedestrian',
     "walker.pedestrian.0022": 'pedestrian',
     "walker.pedestrian.0025": 'pedestrian',
+    "walker.pedestrian.0027": 'pedestrian',
+    "walker.pedestrian.0030": 'pedestrian',
+    "walker.pedestrian.0031": 'pedestrian',
+    "walker.pedestrian.0032": 'pedestrian',
+    "walker.pedestrian.0034": 'pedestrian',
     "walker.pedestrian.0035": 'pedestrian',
     "walker.pedestrian.0041": 'pedestrian',
+    "walker.pedestrian.0042": 'pedestrian',
     "walker.pedestrian.0046": 'pedestrian',
     "walker.pedestrian.0047": 'pedestrian',
 
diff --git a/adzoo/uniad/configs/stage2_e2e/tiny_e2e_b2d.py b/adzoo/uniad/configs/stage2_e2e/tiny_e2e_b2d.py
index b6c7a2c..79f8b6e 100644
--- a/adzoo/uniad/configs/stage2_e2e/tiny_e2e_b2d.py
+++ b/adzoo/uniad/configs/stage2_e2e/tiny_e2e_b2d.py
@@ -10,6 +10,7 @@
 voxel_size = [0.2, 0.2, 8]
 patch_size = [102.4, 102.4]
 img_norm_cfg = dict(mean=[103.530, 116.280, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False)
+
 NameMapping = {
     #=================vehicle=================
     # bicycle
@@ -17,6 +18,7 @@
     "vehicle.diamondback.century": 'bicycle',
     "vehicle.gazelle.omafiets": 'bicycle',
     # car
+    "vehicle.audi.etron": 'car',
     "vehicle.chevrolet.impala": 'car',
     "vehicle.dodge.charger_2020": 'car',
     "vehicle.dodge.charger_police": 'car',
@@ -72,19 +74,30 @@
 
     #=================pedestrian==============
     "walker.pedestrian.0001": 'pedestrian',
+    "walker.pedestrian.0003": 'pedestrian',
     "walker.pedestrian.0004": 'pedestrian',
     "walker.pedestrian.0005": 'pedestrian',
     "walker.pedestrian.0007": 'pedestrian',
+    "walker.pedestrian.0010": 'pedestrian',
     "walker.pedestrian.0013": 'pedestrian',
     "walker.pedestrian.0014": 'pedestrian',
+    "walker.pedestrian.0015": 'pedestrian',
+    "walker.pedestrian.0016": 'pedestrian',
     "walker.pedestrian.0017": 'pedestrian',
     "walker.pedestrian.0018": 'pedestrian',
     "walker.pedestrian.0019": 'pedestrian',
     "walker.pedestrian.0020": 'pedestrian',
+    "walker.pedestrian.0021": 'pedestrian',
     "walker.pedestrian.0022": 'pedestrian',
     "walker.pedestrian.0025": 'pedestrian',
+    "walker.pedestrian.0027": 'pedestrian',
+    "walker.pedestrian.0030": 'pedestrian',
+    "walker.pedestrian.0031": 'pedestrian',
+    "walker.pedestrian.0032": 'pedestrian',
+    "walker.pedestrian.0034": 'pedestrian',
     "walker.pedestrian.0035": 'pedestrian',
     "walker.pedestrian.0041": 'pedestrian',
+    "walker.pedestrian.0042": 'pedestrian',
     "walker.pedestrian.0046": 'pedestrian',
     "walker.pedestrian.0047": 'pedestrian',
 
diff --git a/adzoo/vad/configs/VAD/VAD_base_e2e_b2d.py b/adzoo/vad/configs/VAD/VAD_base_e2e_b2d.py
index 09ddac4..3ff4b62 100644
--- a/adzoo/vad/configs/VAD/VAD_base_e2e_b2d.py
+++ b/adzoo/vad/configs/VAD/VAD_base_e2e_b2d.py
@@ -20,6 +20,7 @@
     "vehicle.diamondback.century": 'bicycle',
     "vehicle.gazelle.omafiets": 'bicycle',
     # car
+    "vehicle.audi.etron": 'car',
     "vehicle.chevrolet.impala": 'car',
     "vehicle.dodge.charger_2020": 'car',
     "vehicle.dodge.charger_police": 'car',
@@ -75,19 +76,30 @@
 
     #=================pedestrian==============
     "walker.pedestrian.0001": 'pedestrian',
+    "walker.pedestrian.0003": 'pedestrian',
     "walker.pedestrian.0004": 'pedestrian',
     "walker.pedestrian.0005": 'pedestrian',
     "walker.pedestrian.0007": 'pedestrian',
+    "walker.pedestrian.0010": 'pedestrian',
     "walker.pedestrian.0013": 'pedestrian',
     "walker.pedestrian.0014": 'pedestrian',
+    "walker.pedestrian.0015": 'pedestrian',
+    "walker.pedestrian.0016": 'pedestrian',
     "walker.pedestrian.0017": 'pedestrian',
     "walker.pedestrian.0018": 'pedestrian',
     "walker.pedestrian.0019": 'pedestrian',
     "walker.pedestrian.0020": 'pedestrian',
+    "walker.pedestrian.0021": 'pedestrian',
     "walker.pedestrian.0022": 'pedestrian',
     "walker.pedestrian.0025": 'pedestrian',
+    "walker.pedestrian.0027": 'pedestrian',
+    "walker.pedestrian.0030": 'pedestrian',
+    "walker.pedestrian.0031": 'pedestrian',
+    "walker.pedestrian.0032": 'pedestrian',
+    "walker.pedestrian.0034": 'pedestrian',
     "walker.pedestrian.0035": 'pedestrian',
     "walker.pedestrian.0041": 'pedestrian',
+    "walker.pedestrian.0042": 'pedestrian',
     "walker.pedestrian.0046": 'pedestrian',
     "walker.pedestrian.0047": 'pedestrian',