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README.md

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 # **PDM-Lite Dataset for CARLA Leaderboard 2.0**
 
 ## Description
-PDM-Lite is a state-of-the-art rule-based expert system for autonomous urban driving in CARLA Leaderboard 2.0, and the first to successfully navigate all scenarios. This dataset was used to create the QA dataset for DriveLM-Carla, a benchmark for evaluating end-to-end autonomous driving algorithms with Graph Visual Question Answering (GVQA). DriveLM introduces GVQA as a novel approach, modeling perception, prediction, and planning through interconnected question-answer pairs, mimicking human reasoning processes. Additionally, this dataset was used for training Transfuser++ with imitation learning, which achieved 1st place (map track) and 2nd place (sensor track) in the CARLA Autonomous Driving Challenge 2024.
+[PDM-Lite](https://github.com/OpenDriveLab/DriveLM/tree/DriveLM-CARLA/pdm_lite) is a state-of-the-art rule-based expert system for autonomous urban driving in [CARLA Leaderboard 2.0](https://leaderboard.carla.org/get_started/), and the first to successfully navigate all scenarios. This dataset was used to create the QA dataset for [DriveLM-Carla](https://github.com/OpenDriveLab/DriveLM/tree/DriveLM-CARLA), a benchmark for evaluating end-to-end autonomous driving algorithms with Graph Visual Question Answering (GVQA). DriveLM introduces GVQA as a novel approach, modeling perception, prediction, and planning through interconnected question-answer pairs, mimicking human reasoning processes. Additionally, this dataset was used for training [Transfuser++](https://kashyap7x.github.io/assets/pdf/students/Zimmerlin2024.pdf) with imitation learning, which achieved 1st place (map track) and 2nd place (sensor track) in the [CARLA Autonomous Driving Challenge 2024](https://opendrivelab.com/challenge2024/#carla). This dataset builds upon the [PDM-Lite](https://github.com/OpenDriveLab/DriveLM/tree/DriveLM-CARLA/pdm_lite) expert, incorporating enhancements from "[Tackling CARLA Leaderboard 2.0 with End-to-End Imitation Learning](https://kashyap7x.github.io/assets/pdf/students/Zimmerlin2024.pdf)".
 
 For more information and a script for downloading and unpacking visit our [GitHub](https://github.com/OpenDriveLab/DriveLM/tree/DriveLM-CARLA).