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Thinklab-SJTU / Bench2Drive

[NeurIPS 2024 Datasets and Benchmarks Track] Closed-Loop E2E-AD Benchmark Enhanced by World Model RL Expert
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The number of pedestrians used to test in BASE Dataset #110

Closed Mr-Fu620 closed 1 month ago

Mr-Fu620 commented 1 month ago

I found that under the BASE dataset, the number of pedestrians in the tested dataset is particularly small, only more than 500, is this normal？

jiaxiaosong1002 commented 1 month ago

@Mr-Fu620 Indeed, pedestrian is rare in CARLA. In fact, the validation set is carefully selected to make sure there is at least one instance per class to avoid collapsing the detection code since there are rarer types like truck.