Relationship between Bench2Drive and CARLA Leaderboard V2

[FanGShiYuu]

First of all, thanks for your great work on Bench2Drive!

I would like to ask about the relationship between Bench2Drive and CARLA Leaderboard V2. Specifically:

How are these two benchmarks related?

Is the scenario difficulty in Bench2Drive generally higher compared to CARLA Leaderboard V2?

Thanks in advance for your clarification!

[PDillis]

I'm not an author, but you can read the scenarios used in the CARLA Leaderboard here. The scenarios found in Bench2Drive are very similar but not precisely the same (see Table 2 of the paper), but the key differences are that the route length is shorter in B2D (as seen in Figure 2 of the paper) and the available metrics show other modalities of driving (e.g., comfortness).