# DriveE2E: Closed-Loop Benchmark for End-to-End Autonomous Driving through Real-to-Simulation

## 0. Compressed Video Demos for Driving Scenarios
Note that we have compressed the original videos to meet the limited space.

## 1. Expert Dataset Example

This folder contains expert demonstrations captured in the Real2Sim–CARLA pipeline using a nuScenes-style sensor suite.

COV_DriveE2ETown04Opt_Route213_Weather10/    # Scene name
├─ camera/                                    # Multi-view RGB images (nuScenes intrinsics/extrinsics)
│  ├─ rgb_front/
│  │  └─ xxxxxx.jpg
│  ├─ rgb_front_left/
│  ├─ rgb_front_right/
│  ├─ rgb_back/
│  ├─ rgb_back_left/
│  └─ rgb_back_right/
├─ lidar/                                     # LiDAR point clouds (nuScenes configuration)
├─ radar/                                     # Radar point clouds (nuScenes configuration)
└─ anno/                                      # Object annotations + ego-vehicle states



## 2. Dynamic Traffic Scenarios

This directory provides the 200 validation scenes used for closed-loop evaluation. It includes dynamic trajectories as well as static scene attributes (e.g., weather, lighting).

clip_data_200/                                # Trajectories for all dynamic agents in each scene
├─ COV_000_200016.csv
└─ ...                                        # Other scene-wise CSVs

drive_e2e_xmls_val_200/                       # Static attributes per scene
├─ drive_e2e_003.xml                          # Weather, illumination, etc.
└─ ...                                        # Other scene-wise XMLs



## 3. Code

Core sources for dataset loading, scenario playback, and closed-loop evaluation
