Missing Bench2Drive stage-2 checkpoint for closed-loop evaluation

[xuekai-yan]

Hello, thanks for the great work!

I am trying to reproduce the MomAD closed-loop evaluation on Bench2Drive.

I downloaded the Bench2Drive assets from the Baidu Yun link in the README. The package contains:

• b2d_infos_train.pkl
• b2d_infos_val.pkl
• b2d_map_infos.pkl
• kmeans_*.npy
• momad_small_b2d_stage1.pth

However, when running the closed-loop evaluation with:

• close_loop/SparseDrive_MomAD/adzoo/sparsedrive/configs/momad_small_b2d_stage2_multiplan.py
• close_loop/SparseDrive_MomAD/leaderboard/team_code/sparsedrive_b2d_agent.py

the model loading fails because the downloaded momad_small_b2d_stage1.pth does not contain the stage-2 planning head weights, e.g. head.motion_plan_head.*.

I also noticed that the provided evaluation scripts refer to an internal checkpoint path:

/data/songziying/workspace/SparseDriveb2d/ckpt/iter_9782.pth

For example, run_evalutaion_multi_sparsedrive.sh uses:

momad_small_b2d_stage2_multiplan.py + ckpt/iter_9782.pth

Could you please clarify whether the final Bench2Drive stage-2 checkpoint used for closed-loop evaluation is available?

If possible, could you release the B2D stage-2 checkpoint, such as iter_9782.pth, or provide instructions for obtaining/training it?

Thanks!

For reference, I checked the downloaded stage-1 checkpoint and it contains depth_branch.*, but no head.motion_plan_head.* keys:

• motion_plan_head: 0 keys
• plan_cls_branch: 0 keys
• plan_reg_branch: 0 keys

Therefore, it cannot be strictly loaded with momad_small_b2d_stage2_multiplan.py.