| # 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 | |
| bash scripts/validate_bundle.sh | |
| sha256sum -c SHA256SUMS | |
| ``` | |
| ## Run One Route | |
| PDM-Lite: | |
| ```bash | |
| ROUTE=$PWD/routes/occluded_pedestrian/closed_occluded_pedestrian_0011.xml GPU_RANK=0 bash scripts/run_pdm_lite_route.sh | |
| ``` | |
| Coop-SimLingo: | |
| ```bash | |
| ROUTE=$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. | |