This is the implement for the paper "MoDitector: Module-Directed Testing for Autonomous Driving Systems"
Our code is implemented in Pylot and Carla 0.9.10.1, please refer to [Pylot]{https://github.com/erdos-project/pylot.git} repo to complete the environment setup.
After setup, please clone this repo in the same directory with Pylot.
We have already provided scripts to run the code in the scripts folder.
For example, you can use
sh scripts/data_collection/pylot/intersection_right.sh
to run the experiment of intersection_right scenario.
Note that, if you would like to run the experiment without perception module, please edit the yaml file line
ori_config_target_agent with add _gt_perception in the filename