Closed-loop training and testing in simulator & real world

[meua]

Hello, I would like to ask whether the code integrated with the simulation environment Carla mentioned in https://opendrivelab.com/e2ead/UniAD_plenary_talk_slides.pdf this slides has been open sourced. If so, where should I find the corresponding code? If not , I should look at the code modules of UniAD to input the sensor data (Camera, Lidar, Radar) data of the Carla simulation environment to UniAD, and how to get the planning data of UniAD to the vehicle control module? I don't care much about the implementation of the UniAD algorithm. What I want to do is to make UniAD an operator that can process the data I need to pass to it, and let it spit out the planning data of the vehicle operation.

[fanyongx]

I have the same question, this code heavily coupled with nuscenes dataset, how can I use it on carla for closed-loop test, have you solved this question, maybe we can have some communication.