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LEAD 123D

LEAD 123D 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 perception, world models, video generation and self-play RL read the same files. Contents Path Size Logs… See the full description on the dataset page: https://huggingface.co/datasets/ln2697/lead-123d.

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