A privileged expert drives CARLA Leaderboard 2.0 routes and writes every modality
it sees to the standardized Py123D format:
cameras, lidar, radar, the full scene state and the maps to place it on. Code,
loaders, visualizers and closed-loop benchmarks live in
kesai-labs/lead.
Policy learning is one application. The logs carry the whole scene, so… See the full description on the dataset page:
https://huggingface.co/datasets/ln2697/lead-123d.
