Questions on the calculation of assessment indicators

[Rookie-From-East]

Hello, thank you for your outstanding contribution! While attempting to reproduce your work, I'm unsure whether you provided a script file for calculating the final evaluation metrics within the code repository, but I ultimately couldn't locate it. I wrote my own evaluation script following the methodology described in the paper, yet my results failed to meet the metrics presented in the paper (average driving score around 55, route completion rate around 94%). I suspect my statistical approach may be flawed. Could you kindly provide the calculation method for the final global metrics?
Additionally, the code you currently provide only supports single-modal input from lidar point clouds. This likely contributes significantly to my inability to achieve the paper's high evaluation standards. I would be immensely grateful if you could release the code for visual-lidar multimodal processing!