LANTERN Closed-Loop Benchmark v1.1
This bundle contains 120 Route-A hazard routes and 120 paired, context-preserving Route-B controls: 20 pairs for each of six cooperative safety-critical scenario families.
Validate
bash scripts/validate_bundle.sh
sha256sum -c SHA256SUMS
Run One Route
PDM-Lite:
ROUTE=$PWD/routes/occluded_pedestrian/closed_occluded_pedestrian_0011.xml GPU_RANK=0 bash scripts/run_pdm_lite_route.sh
Coop-SimLingo:
ROUTE=$PWD/routes/occluded_pedestrian/closed_occluded_pedestrian_0011.xml MODEL_INPUT=/path/to/model_or_run GPU_RANK=0 bash scripts/run_simlingo_route.sh
Use routes_B/.../*_B.xml for the paired non-hazard controls. The runtime
requires the external CARLA, ScenarioRunner, Bench2Drive, and SimLingo
installations; the frozen route, scenario, agent, manifest, and validation
files are included here. See RELEASE_VALIDATION.md for the independent
Route-A/Route-B smoke-test evidence.