{"id":2549,"date":"2026-05-07T10:13:34","date_gmt":"2026-05-07T02:13:34","guid":{"rendered":"http:\/\/110.42.248.92\/onsite-learning-center\/?page_id=2549"},"modified":"2026-05-12T09:39:58","modified_gmt":"2026-05-12T01:39:58","slug":"%e5%bc%80%e5%a7%8b-%e7%ab%af%e5%88%b0%e7%ab%af","status":"publish","type":"page","link":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e7%ab%af%e5%88%b0%e7%ab%af\/","title":{"rendered":"Start - End-to-End"},"content":{"rendered":"<div class=\"fusion-fullwidth fullwidth-box fusion-builder-row-1 fusion-flex-container has-pattern-background has-mask-background nonhundred-percent-fullwidth non-hundred-percent-height-scrolling\" style=\"--awb-border-radius-top-left:0px;--awb-border-radius-top-right:0px;--awb-border-radius-bottom-right:0px;--awb-border-radius-bottom-left:0px;--awb-flex-wrap:wrap;\" ><div class=\"fusion-builder-row fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"max-width:1248px;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column fusion-builder-column-0 fusion_builder_column_1_4 1_4 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:25%;--awb-margin-top-large:0px;--awb-spacing-right-large:7.68%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:7.68%;--awb-width-medium:25%;--awb-order-medium:0;--awb-spacing-right-medium:7.68%;--awb-spacing-left-medium:7.68%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-1\"><\/div><nav class=\"awb-menu awb-menu_column awb-menu_em-click mobile-mode-collapse-to-button awb-menu_icons-left awb-menu_dc-yes mobile-trigger-fullwidth-off awb-menu_mobile-toggle mobile-size-full-absolute loading mega-menu-loading awb-menu_desktop awb-menu_v-stacked awb-submenu_cm_accordion\" style=\"--awb-line-height:var(--awb-typography3-line-height);--awb-margin-top:80px;--awb-margin-bottom:80px;--awb-text-transform:var(--awb-typography3-text-transform);--awb-bg:hsla(var(--awb-color5-h),var(--awb-color5-s),var(--awb-color5-l),calc(var(--awb-color5-a) - 95%));--awb-border-radius-top-left:5px;--awb-border-radius-top-right:5px;--awb-border-radius-bottom-right:5px;--awb-border-radius-bottom-left:5px;--awb-gap:20px;--awb-items-padding-top:20px;--awb-items-padding-bottom:20px;--awb-items-padding-left:30px;--awb-color:var(--awb-color8);--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-active-color:var(--awb-color5);--awb-active-bg:hsla(var(--awb-color4-h),var(--awb-color4-s),var(--awb-color4-l),calc(var(--awb-color4-a) - 95%));--awb-submenu-sep-color:hsla(var(--awb-color2-h),var(--awb-color2-s),calc(var(--awb-color2-l) - 3%),var(--awb-color2-a));--awb-submenu-items-padding-top:15px;--awb-submenu-items-padding-bottom:15px;--awb-submenu-font-size:var(--awb-typography5-font-size);--awb-submenu-text-transform:var(--awb-typography5-text-transform);--awb-submenu-line-height:var(--awb-typography5-line-height);--awb-submenu-letter-spacing:var(--awb-typography5-letter-spacing);--awb-main-justify-content:center;--awb-sub-justify-content:center;--awb-mobile-nav-button-align-hor:center;--awb-mobile-bg:hsla(var(--awb-color5-h),var(--awb-color5-s),var(--awb-color5-l),calc(var(--awb-color5-a) - 98%));--awb-mobile-trigger-font-size:22px;--awb-mobile-trigger-color:var(--awb-color8);--awb-mobile-nav-trigger-bottom-margin:10px;--awb-mobile-font-size:var(--awb-typography3-font-size);--awb-mobile-text-transform:var(--awb-typography3-text-transform);--awb-mobile-line-height:var(--awb-typography3-line-height);--awb-mobile-letter-spacing:var(--awb-typography3-letter-spacing);--awb-mobile-justify:center;--awb-mobile-caret-left:auto;--awb-mobile-caret-right:0;--awb-box-shadow: 0px 0px ;;--awb-fusion-font-family-typography:var(--awb-typography3-font-family);--awb-fusion-font-weight-typography:var(--awb-typography3-font-weight);--awb-fusion-font-style-typography:var(--awb-typography3-font-style);--awb-fusion-font-family-submenu-typography:var(--awb-typography5-font-family);--awb-fusion-font-weight-submenu-typography:var(--awb-typography5-font-weight);--awb-fusion-font-style-submenu-typography:var(--awb-typography5-font-style);--awb-fusion-font-family-mobile-typography:var(--awb-typography3-font-family);--awb-fusion-font-weight-mobile-typography:var(--awb-typography3-font-weight);--awb-fusion-font-style-mobile-typography:var(--awb-typography3-font-style);\" aria-label=\"Quick Start\" data-breakpoint=\"640\" data-count=\"0\" data-transition-type=\"fade\" data-transition-time=\"300\"><button type=\"button\" class=\"awb-menu__m-toggle\" aria-expanded=\"false\" aria-controls=\"menu-%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\"><span class=\"awb-menu__m-toggle-inner\"><span class=\"collapsed-nav-text\">Menu<\/span><span class=\"awb-menu__m-collapse-icon\"><span class=\"awb-menu__m-collapse-icon-open fa-bars fas\"><\/span><span class=\"awb-menu__m-collapse-icon-close fa-times fas\"><\/span><\/span><\/span><\/button><ul id=\"menu-%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\" class=\"fusion-menu awb-menu__main-ul awb-menu__main-ul_column\"><li  id=\"menu-item-898\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-has-children menu-item-898 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"898\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">Perception<\/span><\/a><button type=\"button\" aria-label=\"Open submenu of Perception\" aria-expanded=\"false\" class=\"awb-menu__open-nav-submenu_mobile awb-menu__open-nav-submenu_click awb-menu__open-nav-submenu_main awb-menu__open-nav-submenu_needs-spacing\"><\/button><ul class=\"awb-menu__sub-ul awb-menu__sub-ul_main\"><li  id=\"menu-item-1537\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1537 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5-%e8%af%ad%e4%b9%89%e5%88%86%e5%89%b2\/\" class=\"awb-menu__sub-a\"><span>Code-Semantic Segmentation<\/span><\/a><\/li><li  id=\"menu-item-1535\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1535 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5-%e6%b7%b1%e5%ba%a6%e4%bc%b0%e8%ae%a1\/\" class=\"awb-menu__sub-a\"><span>Code - Depth Estimation<\/span><\/a><\/li><li  id=\"menu-item-1533\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1533 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5-2d%e7%9b%ae%e6%a0%87%e6%a3%80%e6%b5%8b\/\" class=\"awb-menu__sub-a\"><span>Code-2D Object Detection<\/span><\/a><\/li><li  id=\"menu-item-1566\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1566 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5-%e7%9b%ae%e6%a0%87%e8%bf%bd%e8%b8%aa\/\" class=\"awb-menu__sub-a\"><span>Code - Goal Tracking<\/span><\/a><\/li><\/ul><\/li><li  id=\"menu-item-1473\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-has-children menu-item-1473 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"1473\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">Prediction<\/span><\/a><button type=\"button\" aria-label=\"Open submenu of Prediction\" aria-expanded=\"false\" class=\"awb-menu__open-nav-submenu_mobile awb-menu__open-nav-submenu_click awb-menu__open-nav-submenu_main awb-menu__open-nav-submenu_needs-spacing\"><\/button><ul class=\"awb-menu__sub-ul awb-menu__sub-ul_main\"><li  id=\"menu-item-1926\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1926 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b-%e8%bd%a8%e8%bf%b9%e9%a2%84%e6%b5%8b%ef%bc%9a%e5%8d%95%e8%bd%a6%e5%8d%95%e6%a8%a1%e6%80%81%e8%bd%a6%e8%bd%a8%e8%bf%b9%e9%a2%84%e6%b5%8b\/\" class=\"awb-menu__sub-a\"><span>Code \u2013 bicycle trajectory prediction<\/span><\/a><\/li><li  id=\"menu-item-1545\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1545 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b-vru%e8%bd%a8%e8%bf%b9%e9%a2%84%e6%b5%8b\/\" class=\"awb-menu__sub-a\"><span>Code-VRU trajectory prediction<\/span><\/a><\/li><li  id=\"menu-item-1658\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1658 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b-%e6%9c%ba%e5%8a%a8%e8%bd%a6%e8%bd%a8%e8%bf%b9%e9%a2%84%e6%b5%8b-cloned\/\" class=\"awb-menu__sub-a\"><span>Code-Multi-vehicle trajectory prediction<\/span><\/a><\/li><\/ul><\/li><li  id=\"menu-item-897\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-has-children menu-item-897 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"897\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e8%a7%84%e5%88%92-%e5%86%b3%e7%ad%96\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">Decision\/Planning Problems<\/span><\/a><button type=\"button\" aria-label=\"Open submenu of Decision\/Planning Problems\" aria-expanded=\"false\" class=\"awb-menu__open-nav-submenu_mobile awb-menu__open-nav-submenu_click awb-menu__open-nav-submenu_main awb-menu__open-nav-submenu_needs-spacing\"><\/button><ul class=\"awb-menu__sub-ul awb-menu__sub-ul_main\"><li  id=\"menu-item-1530\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1530 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e8%a7%84%e5%88%92-%e5%86%b3%e7%ad%96\/%e5%bc%80%e5%a7%8b-%e5%86%b3%e7%ad%96-%e8%a7%84%e5%88%92-%e8%a1%8c%e4%b8%ba%e5%86%b3%e7%ad%96\/\" class=\"awb-menu__sub-a\"><span>Code-Bike Decisions<\/span><\/a><\/li><li  id=\"menu-item-1742\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1742 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e8%a7%84%e5%88%92-%e5%86%b3%e7%ad%96\/%e5%bc%80%e5%a7%8b-%e5%86%b3%e7%ad%96-%e8%a7%84%e5%88%92-%e5%8d%8f%e5%90%8c%e5%86%b3%e7%ad%96\/\" class=\"awb-menu__sub-a\"><span>Code - Collaborative Decision Making<\/span><\/a><\/li><li  id=\"menu-item-1532\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1532 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e8%a7%84%e5%88%92-%e5%86%b3%e7%ad%96\/%e5%bc%80%e5%a7%8b-%e5%86%b3%e7%ad%96-%e8%a7%84%e5%88%92-%e8%bf%90%e5%8a%a8%e8%a7%84%e5%88%92\/\" class=\"awb-menu__sub-a\"><span>Code-Motion Planning<\/span><\/a><\/li><\/ul><\/li><li  id=\"menu-item-899\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-has-children menu-item-899 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"899\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">Control<\/span><\/a><button type=\"button\" aria-label=\"Open submenu of Control\" aria-expanded=\"false\" class=\"awb-menu__open-nav-submenu_mobile awb-menu__open-nav-submenu_click awb-menu__open-nav-submenu_main awb-menu__open-nav-submenu_needs-spacing\"><\/button><ul class=\"awb-menu__sub-ul awb-menu__sub-ul_main\"><li  id=\"menu-item-1538\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1538 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6-%e6%a8%aa%e5%90%91%e6%8e%a7%e5%88%b6\/\" class=\"awb-menu__sub-a\"><span>Code - Horizontal Control<\/span><\/a><\/li><li  id=\"menu-item-1539\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1539 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6-%e7%ba%b5%e5%90%91%e6%8e%a7%e5%88%b6\/\" class=\"awb-menu__sub-a\"><span>Code-vertical control<\/span><\/a><\/li><li  id=\"menu-item-1540\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1540 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6-%e8%80%a6%e5%90%88%e6%8e%a7%e5%88%b6\/\" class=\"awb-menu__sub-a\"><span>Code-coupling control<\/span><\/a><\/li><\/ul><\/li><li  id=\"menu-item-2558\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-2558 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"2558\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/en\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e7%ab%af%e5%88%b0%e7%ab%af\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">End-to-End Autonomous Driving<\/span><\/a><\/li><\/ul><\/nav><\/div><\/div><div class=\"fusion-layout-column fusion_builder_column fusion-builder-column-1 fusion_builder_column_3_4 3_4 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:75%;--awb-margin-top-large:0px;--awb-spacing-right-large:2.56%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:2.56%;--awb-width-medium:75%;--awb-order-medium:0;--awb-spacing-right-medium:2.56%;--awb-spacing-left-medium:2.56%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-2\" style=\"--awb-font-size:38px;--awb-line-height:var(--awb-typography1-line-height);--awb-letter-spacing:var(--awb-typography1-letter-spacing);--awb-text-transform:var(--awb-typography1-text-transform);--awb-text-font-family:var(--awb-typography1-font-family);--awb-text-font-weight:var(--awb-typography1-font-weight);--awb-text-font-style:var(--awb-typography1-font-style);\"><p>End-to-End Autonomous Driving<\/p>\n<\/div><div class=\"fusion-text fusion-text-3\" style=\"--awb-content-alignment:left;--awb-font-size:18px;--awb-line-height:2;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>End-to-End Autonomous Driving reduces information loss and accumulated error between Perception, Prediction, Planning, and Control in conventional systems. Learnable models map multimodal perception inputs directly to future vehicle trajectories or control intentions. Compared with modular architectures built on hand-crafted rules and serial interfaces, end-to-end methods jointly optimize for the final driving goal, while introducing new challenges in training stability, interpretability, and closed-loop safety validation.<\/p>\n<p>Using UniAD and Bench2Drive\/Bench2DriveZoo, this lab follows the workflow from multi-camera inputs and BEV features to Perception and Tracking, Motion Prediction, Occupancy Prediction, and planned trajectories. Learners will understand end-to-end task interfaces and UniAD\u2019s module coordination, configure the environment, prepare pretrained weights, run open-loop validation or closed-loop tests, and analyze model behavior in complex scenes using visualizations.<\/p>\n<\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-0 fusion_builder_column_inner_1_6 1_6 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:16.666666666667%;--awb-margin-top-large:0px;--awb-spacing-right-large:11.52%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:11.52%;--awb-width-medium:16.666666666667%;--awb-order-medium:0;--awb-spacing-right-medium:11.52%;--awb-spacing-left-medium:11.52%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><\/div><\/div><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-1 fusion_builder_column_inner_2_3 2_3 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:66.666666666667%;--awb-margin-top-large:0px;--awb-spacing-right-large:2.88%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:2.88%;--awb-width-medium:66.666666666667%;--awb-order-medium:0;--awb-spacing-right-medium:2.88%;--awb-spacing-left-medium:2.88%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><\/div><\/div><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-2 fusion_builder_column_inner_1_6 1_6 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:16.666666666667%;--awb-margin-top-large:0px;--awb-spacing-right-large:11.52%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:11.52%;--awb-width-medium:16.666666666667%;--awb-order-medium:0;--awb-spacing-right-medium:11.52%;--awb-spacing-left-medium:11.52%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><\/div><\/div><\/div><div class=\"fusion-separator fusion-full-width-sep\" style=\"align-self: center;margin-left: auto;margin-right: auto;margin-bottom:30px;width:100%;\"><div class=\"fusion-separator-border sep-double\" style=\"--awb-height:20px;--awb-amount:20px;border-color:var(--awb-color3);border-top-width:1px;border-bottom-width:1px;\"><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-3 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-4\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:700;\"><p><strong>I. Learning objectives<\/strong><\/p>\n<\/div><div class=\"fusion-text fusion-text-5\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><ul>\n<li>Understand End-to-End Autonomous Driving: distinguish end-to-end from traditional modular architectures and understand its inputs, outputs, strengths, limitations, and role in an autonomous-driving system.<\/li>\n<li>Learn the UniAD example model: understand the roles of TrackFormer, MapFormer, MotionFormer, OccFormer, and the planning module, as well as query mechanisms, BEV representations, and joint Perception-Prediction-Planning optimization.<\/li>\n<li>Master the lab workflow: configure Bench2DriveZoo, prepare pretrained weights and datasets, run open-loop evaluation with UniAD-Tiny or UniAD-Base, and conduct CARLA closed-loop testing when resources are available.<\/li>\n<li>Develop result-analysis skills: use planning L2, collision rate, Driving Score, route completion rate, and RGB\/BEV visualizations to analyze why end-to-end models succeed or fail in complex scenes.<\/li>\n<\/ul>\n<\/div><\/div><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-4 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-6\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:700;\"><p><strong>II. Key concepts<\/strong><\/p>\n<\/div><div class=\"fusion-text fusion-text-7\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>The lab covers the following main theoretical concepts:<\/p>\n<ul>\n<li>End-to-end and modular autonomous-driving architectures<\/li>\n<li>BEV representations, multi-camera perception fusion, and Transformer query mechanisms<\/li>\n<li>Coordination among detection and tracking, online mapping, Motion Prediction, Occupancy Prediction, and planning in UniAD<\/li>\n<li>Two-stage training, task-loss weighting, and multi-task learning stability<\/li>\n<li>Bench2Drive\/Bench2DriveZoo datasets, open-loop evaluation, and CARLA closed-loop testing<\/li>\n<\/ul>\n<\/div><\/div><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-5 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-8\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:700;\"><p><strong>III. Required environment and tools<\/strong><\/p>\n<\/div><div class=\"fusion-text fusion-text-9\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><ul>\n<li><strong>Hardware equipment:<\/strong>Ubuntu 18.04 and above system; NVIDIA independent graphics card, recommended video memory is no less than 16GB; sufficient disk space for data set and model weight storage;<\/li>\n<li><strong>Development environment:<\/strong>Python 3.8; Anaconda\/Miniconda\/CondaForge; CUDA 11.8; PyTorch GPU version; ninja, packaging and other compilation auxiliary tools; Bench2DriveZoo, Bench2Drive and CARLA 0.9.15.<\/li>\n<li><strong>How to run:<\/strong>It is recommended to give priority to using small-scale data packets to complete UniAD-Tiny open-loop verification; when a GPU and CARLA environment are available, closed-loop testing can be completed locally. The full Bench2Drive data set is relatively large, and the subset provided by the official or course can be used for training experiments.<\/li>\n<\/ul>\n<\/div><\/div><\/div><\/div><div class=\"fusion-separator fusion-full-width-sep\" style=\"align-self: center;margin-left: auto;margin-right: auto;width:100%;\"><div class=\"fusion-separator-border sep-double\" style=\"--awb-height:20px;--awb-amount:20px;border-color:var(--awb-color3);border-top-width:1px;border-bottom-width:1px;\"><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-6 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-10 fusion-text-no-margin\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-margin-bottom:0px;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:300;\"><h4 style=\"padding-left: 0px;\">IV. Lab tasks and steps<\/h4>\n<\/div><div class=\"fusion-text fusion-text-11\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>This lab uses UniAD-Tiny in Bench2DriveZoo by default. With sufficient hardware, you may also run UniAD-Base or short training runs. With limited resources, use pretrained weights for open-loop evaluation and visualization analysis.<\/p>\n<p><strong>0. Explore the project structure:<\/strong><\/p>\n<p>After downloading Bench2DriveZoo, review the following directories to locate configuration, model, data, and closed-loop test code:<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-1 > .CodeMirror, .fusion-syntax-highlighter-1 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-1 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-1 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-1 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_1\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_1\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_1\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">Bench2DriveZoo\/\n  adzoo\/uniad\/                 # UniAD\u6a21\u578b\u3001\u914d\u7f6e\u4e0e\u8bad\u7ec3\u8bc4\u4f30\u811a\u672c\n  ckpts\/                       # \u9884\u8bad\u7ec3\u6743\u91cd\u4e0eUniAD checkpoint\n  data\/bench2drive\/            # Bench2Drive\u6570\u636e\u3001infos\u4e0e\u5730\u56fe\u6587\u4ef6\n  team_code\/                   # CARLA\u95ed\u73af\u6d4b\u8bd5\u5165\u53e3\u4ee3\u7801<\/textarea><\/div><div class=\"fusion-text fusion-text-12\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>1. Create the runtime environment:<\/strong><\/p>\n<p>Step 1: Create a virtual environment<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-2 > .CodeMirror, .fusion-syntax-highlighter-2 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-2 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-2 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-2 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_2\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_2\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_2\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">## \u9700\u8981\u4f7f\u7528Python3.8\u7248\u672c\nconda create -n onsite python=3.8\nconda activate onsite\n<\/textarea><\/div><div class=\"fusion-text fusion-text-13\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>Step 2: Install the CUDA toolchain<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-3 > .CodeMirror, .fusion-syntax-highlighter-3 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-3 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-3 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-3 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_3\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_3\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_3\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\"># \u4f7f\u7528cuda 11.8\uff0c\u5426\u5219\u4f1a\u51fa\u73b0\u517c\u5bb9\u9519\u8bef\nconda install -c \"nvidia\/label\/cuda-11.8.0\" cuda-toolkit<\/textarea><\/div><div class=\"fusion-text fusion-text-14\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>Step 3: Install PyTorch<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-4 > .CodeMirror, .fusion-syntax-highlighter-4 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-4 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-4 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-4 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_4\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_4\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_4\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\"># \u4e0d\u8981\u4f7f\u7528\u955c\u50cf\u6e90\uff0c\u955c\u50cf\u6e90\u7248\u672c\u4e3aCPU\u7248\u672c\uff0c\u65e0\u6cd5\u8fdb\u884c\u63a8\u7406\npip install torch torchvision torchaudio\\\n --index-url https:\/\/download.pytorch.org\/whl\/cu118<\/textarea><\/div><div class=\"fusion-text fusion-text-15\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>Step 4: Set environment variables<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-5 > .CodeMirror, .fusion-syntax-highlighter-5 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-5 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-5 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-5 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_5\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_5\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_5\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\"># cuda 11.8\u548cGCC 9.4\u7248\u672c\u9700\u8981\u56fa\u5b9a\uff0c\u5426\u5219\u5bb9\u6613\u51fa\u73b0\u62a5\u9519\nexport PATH=YOUR_GCC_PATH\/bin:$PATH\uff08\u9ed8\u8ba4\u4e3a\/usr\/bin\uff09\nexport CUDA_HOME=YOUR_CUDA_PATH\/\uff08\u9ed8\u8ba4\u4e3a\/usr\/local\/cuda-11.8\uff09<\/textarea><\/div><div class=\"fusion-text fusion-text-16\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>Step 5: Install ninja and packaging build helpers<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-6 > .CodeMirror, .fusion-syntax-highlighter-6 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-6 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-6 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-6 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_6\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_6\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_6\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">pip install ninja packaging<\/textarea><\/div><div class=\"fusion-text fusion-text-17\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>Step 6: Clone and install the project<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-7 > .CodeMirror, .fusion-syntax-highlighter-7 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-7 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-7 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-7 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_7\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_7\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_7\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">git clone https:\/\/github.com\/Thinklab-SJTU\/Bench2DriveZoo.git\ncd Bench2DriveZoo && pip install -v -e .\n<\/textarea><\/div><div class=\"fusion-text fusion-text-18\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>Note: when CUDA, GCC, and PyTorch versions are incompatible, common errors occur during MMCV compilation, CUDA extension loading, and inference.<\/p>\n<\/div><div class=\"fusion-text fusion-text-19\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>2. Prepare pretrained weights:<\/strong><\/p>\n<p>Create a ckpt directory at the project root, then download pretrained visual-encoder weights and the UniAD checkpoint. For this course lab, UniAD-Tiny weights are recommended for open-loop validation.<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-8 > .CodeMirror, .fusion-syntax-highlighter-8 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-8 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-8 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-8 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_8\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_8\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_8\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">mkdir -p ckpts\n# resnet50-19c8e357.pth\n# r101_dcn_fcos3d_pretrain.pth\n# uniad_tiny_b2d.pth\n<\/textarea><\/div><div class=\"fusion-text fusion-text-20\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>Official resources are available on the HuggingFace rethinklab\/Bench2DriveZoo and rethinklab\/Bench2Drive dataset pages. If direct download is slow, use a mirror proxy.<\/p>\n<p>Download links:<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-9 > .CodeMirror, .fusion-syntax-highlighter-9 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-9 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-9 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-9 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_9\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_9\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_9\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">resnet50-19c8e357.pth\u94fe\u63a5\uff1a\nhttps:\/\/huggingface.co\/rethinklab\/Bench2DriveZoo\/blob\/main\/resnet50-19c8e357.pth\nr101_dcn_fcos3d_pretrain.pth\u94fe\u63a5\uff1a\nhttps:\/\/huggingface.co\/rethinklab\/Bench2DriveZoo\/blob\/main\/r101_dcn_fcos3d_pretrain.pth<\/textarea><\/div><div class=\"fusion-text fusion-text-21\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>3. Prepare the Bench2Drive dataset:<\/strong><\/p>\n<p>Follow the official dataset directory structure. Bench2Drive-Full is roughly terabyte scale, so a complete download is not required for a standard course lab; the 400 GB version or a course subset is sufficient to understand the training workflow and perform open-loop validation.<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-10 > .CodeMirror, .fusion-syntax-highlighter-10 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-10 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-10 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-10 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_10\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_10\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_10\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">data\/bench2drive\/\n  v1\/                         # \u573a\u666f\u6570\u636e\uff0c\u4f8b\u5982Accident_Town03_Route101_Weather23\n  maps\/                       # Town01_HD_map.npz\u7b49\u5730\u56fe\u6587\u4ef6\n  infos\/                      # b2d_infos_train.pkl\/b2d_infos_val.pkl\n  others\/                     # b2d_motion_anchor_infos_mode6.pkl\n  splits\/                     # bench2drive_base_train_val_split.json\n<\/textarea><\/div><div class=\"fusion-text fusion-text-22\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>4. Run<\/strong><strong>UniAD<\/strong><strong>Open loop verification<\/strong><strong>\uff1a<\/strong><\/p>\n<p>After preparing the data, configuration, and checkpoint, run the UniAD-Tiny open-loop evaluation script. Record planning error, collision-related metrics, and visualization file paths from the terminal output.<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-11 > .CodeMirror, .fusion-syntax-highlighter-11 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-11 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-11 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-11 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_11\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_11\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_11\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">.\/adzoo\/uniad\/uniad_dist_eval.sh .\/adzoo\/uniad\/configs\/stage2_e2e\/tiny_e2e_b2d.py.\/ckpts\/uniad_tiny_b2d.pth 1<\/textarea><\/div><div class=\"fusion-text fusion-text-23\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>To reproduce the training workflow, refer to the two-stage training commands. Stage1 trains tracking and mapping; Stage2 performs end-to-end joint training. Given VRAM and time limits, course work may inspect the configuration only or run a small number of validation epochs.<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-12 > .CodeMirror, .fusion-syntax-highlighter-12 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-12 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-12 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-12 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_12\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_12\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_12\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">.\/adzoo\/uniad\/uniad_dist_train.sh .\/adzoo\/uniad\/configs\/stage1_track_map\/tiny_track_map_b2d.py 4\n.\/adzoo\/uniad\/uniad_dist_train.sh .\/adzoo\/uniad\/configs\/stage2_e2e\/tiny_e2e_b2d.py 1\n<\/textarea><\/div><div class=\"fusion-text fusion-text-24\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>5. Run the CARLA closed-loop test<\/strong><strong>\uff1a<\/strong><\/p>\n<p>With a CARLA environment, download CARLA 0.9.15 and AdditionalMaps, then configure CARLA_ROOT and the Python API path. Link Bench2DriveZoo to Bench2Drive\u2019s leaderboard test directory and run the closed-loop evaluation script.<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-13 > .CodeMirror, .fusion-syntax-highlighter-13 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-13 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-13 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-13 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_13\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_13\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_13\" data-readonly=\"nocursor\" data-linenumbers=\"1\" data-linewrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">export CARLA_ROOT=YOUR_CARLA_PATH\ngit clone https:\/\/github.com\/Thinklab-SJTU\/Bench2Drive.git\ncd Bench2Drive\/leaderboard && mkdir -p team_code\nln -s YOUR_Bench2DriveZoo_PATH\/team_code\/* .\/team_code\/\npython leaderboard\/leaderboard\/leaderboard_evaluator.py\n<\/textarea><\/div><div class=\"fusion-text fusion-text-25\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>For closed-loop testing, record route completion, violations, collision events, Driving Score, and screenshots of failure cases. If closed-loop testing cannot be completed, explain the limitation in the lab report and use open-loop visualizations for analysis.<\/p>\n<\/div><div class=\"fusion-text fusion-text-26\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>6. Parameter modification and comparative analysis<\/strong><strong>\uff1a<\/strong><\/p>\n<p>Without substantially changing the framework, select one configuration for a comparison experiment, such as queue_length, planning_steps, the number of motion modes, planning-loss weight, or collision-optimization parameters. Change only one variable at a time and keep the checkpoint, data split, and evaluation script fixed; compare metrics and visualizations.<\/p>\n<p>After open-loop evaluation, organize the model outputs: RGB and BEV views, Object Detection and Tracking results, future trajectories, Occupancy Prediction, and ego planned trajectories. Check whether the plan follows navigation instructions, avoids occupancy-risk areas, and avoids abrupt turns, obstacles, or lane departures.<\/p>\n<\/div><\/div><\/div><\/div><div class=\"fusion-separator fusion-full-width-sep\" style=\"align-self: center;margin-left: auto;margin-right: auto;width:100%;\"><div class=\"fusion-separator-border sep-double\" style=\"--awb-height:20px;--awb-amount:20px;border-color:var(--awb-color3);border-top-width:1px;border-bottom-width:1px;\"><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-7 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-27 fusion-text-no-margin\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-margin-bottom:0px;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:300;\"><h4 style=\"padding-left: 0px;\">V. Questions for reflection<\/h4>\n<\/div><div class=\"fusion-text fusion-text-28\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>This project focuses on understanding end-to-end autonomous-driving frameworks and the UniAD example model; full reproduction training of large models is not required. The following questions focus on literature review, code reading, and experimental-result analysis:<\/p>\n<ol>\n<li>Review the literature and explain the interface differences between modular end-to-end and fully integrated end-to-end autonomous driving. What problems is each approach suited to solve?<\/li>\n<li>Using the UniAD architecture, explain what information is exchanged among TrackFormer, MapFormer, MotionFormer, OccFormer, and the planning module.<\/li>\n<li>Why does UniAD train tracking\/mapping in Stage1 before end-to-end joint training in Stage2? How does this strategy improve training stability?<\/li>\n<li>Does a lower open-loop planning L2 necessarily mean a higher closed-loop Driving Score? Use experimental results to explain why the two may differ.<\/li>\n<li>Choose one failure case and propose possible causes from five perspectives: Perception errors, map understanding, Motion Prediction, Occupancy Prediction, and planning optimization.<\/li>\n<li>Try modifying one configuration item, such as queue_length or planning_steps, record the changes in metrics and visualizations, and analyze how the parameter affects model performance.<\/li>\n<\/ol>\n<\/div><\/div><\/div><\/div><\/div><\/div><\/div><\/div>","protected":false},"excerpt":{"rendered":"","protected":false},"author":6,"featured_media":0,"parent":47,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"100-width.php","meta":{"inline_featured_image":false,"iawp_total_views":156,"footnotes":""},"class_list":["post-2549","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/wp-json\/wp\/v2\/pages\/2549"}],"collection":[{"href":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/wp-json\/wp\/v2\/users\/6"}],"replies":[{"embeddable":true,"href":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/wp-json\/wp\/v2\/comments?post=2549"}],"version-history":[{"count":10,"href":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/wp-json\/wp\/v2\/pages\/2549\/revisions"}],"predecessor-version":[{"id":2567,"href":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/wp-json\/wp\/v2\/pages\/2549\/revisions\/2567"}],"up":[{"embeddable":true,"href":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/wp-json\/wp\/v2\/pages\/47"}],"wp:attachment":[{"href":"http:\/\/110.42.248.92\/onsite-learning-center\/en\/wp-json\/wp\/v2\/media?parent=2549"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}