Update README.md

README.md

@@ -82,15 +82,19 @@ After downloading the **nuPlan** and **OpenScene** raw datasets, set up the foll
 ```bash
 data/raw/
 ├── nuplan/                        # nuPlan raw dataset
-│   ├── maps/                      # HD maps (required by all modules)
-│   │   ├── us-nv-las-vegas-strip/
-│   │   ├── us-ma-boston/
-│   │   ├── us-pa-pittsburgh-hazelwood/
-│   │   └── sg-one-north/
-│   ├── sensor_blobs/              # Camera images and LiDAR
-│   └── splits/                    # Train/val/test splits
+│   └── dataset/
+│      ├── maps/                  # HD maps (required for all modules)
+│      │   ├── nuplan-maps-v1.0.json
+│      │   ├── us-nv-las-vegas-strip/
+│      │   ├── us-ma-boston/
+│      │   ├── us-pa-pittsburgh-hazelwood/
+│      │   └── sg-one-north/
+│      └── nuplan-v1.1/
+│          ├── sensor_blobs/      # Camera images and LiDAR
+│          └── splits/            # Train/val/test splits
+│   
 │
-└── openscene-v1.1/                # OpenScene dataset (based on nuPlan)
+└── openscene-v1.1/                # OpenScene dataset (nuPlan-based)
     ├── sensor_blobs/
     │   ├── trainval/              # Training sensor data
     │   └── test/                  # Test sensor data
@@ -143,10 +147,12 @@ Data for **closed-loop simulation**:
 
 ```bash
 data/sim_engine/
-├── assets/                        # Simulation scene assets (need extraction)
-│   ├── navtest/                   # navtest scene assets (10 parts)
-│   ├── navtrain/                  # navtrain scene assets (82 parts)
-│   └── navtest_failures/          # navtest rare logs scene assets
+├── assets/                        # Scene assets for simulation
+│   ├── navtest
+│   │   ├── assets
+│   │   └── configs
+│   ├── navtrain/
+│   └── navtest_failures/
 │
 └── scenarios/                     # Scenario configurations
     ├── original/                  # Original logged scenarios
@@ -155,44 +161,14 @@ data/sim_engine/
     │   ├── navtrain_ep_per1/
     │   ├── navtrain_failures_per1/
     │   └── navtrain_hydramdp_failures/
+    │
     └── augmented/                 # Augmented scenarios (from BWM)
         ├── navtrain_50pct_collision/
         ├── navtrain_50pct_ep_1pct/
         └── navtrain_50pct_offroad/
-```
-
-**⚠️ Important: Scene Asset Extraction**
-
-Scene assets in the `assets/` directory are stored as split archives and must be extracted before use:
-
-```bash
-cd data/sim_engine/assets
 
-# Extract navtest scene assets (10 parts)
-cd navtest
-cat navtest.tar.gz.part* > navtest.tar.gz
-tar -xzf navtest.tar.gz --strip-components=1  # Remove top-level directory from archive
-rm navtest.tar.gz  # Optional: remove merged archive to save space
-
-# Extract navtrain scene assets (82 parts)
-cd ../navtrain
-cat navtrain.tar.gz.part* > navtrain.tar.gz
-tar -xzf navtrain.tar.gz --strip-components=1
-rm navtrain.tar.gz
-
-# Extract navtest_failures scene assets
-cd ../navtest_failures
-cat navtest_failures.tar.gz.part* > navtest_failures.tar.gz
-tar -xzf navtest_failures.tar.gz --strip-components=1
-rm navtest_failures.tar.gz
-
-cd ../../..  # Return to WorldEngine root
 ```
 
-💡 **Tips**:
-- The `--strip-components=1` parameter ensures extraction to the current directory, avoiding nested structures like `navtest/navtest/`
-- Extracted scene assets contain all files needed for 3D Gaussian Splatting (3DGS) rendering; each scene is approximately several hundred MB
-
 </details>
 
 ---
@@ -229,7 +205,7 @@ Follow these steps to set up the dataset:
 | Step | Action | Description |
 |:----:|--------|-------------|
 | **1** | Download dataset | Use Hugging Face Hub or Git Clone |
-| **2** | Extract scene assets | Extract split archives in `data/sim_engine/assets/` ([see instructions](#3️⃣-simengine-data-datasim_engine)) |
+| **2** | Extract scene assets | Extract split archives in `data/sim_engine/assets/` |
 | **3** | Set environment variables | Configure `WORLDENGINE_ROOT` and related paths |
 | **4** | Create symlinks | Link raw datasets (if needed) |
 | **5** | Verify installation | Run the quick test script |
@@ -314,6 +290,7 @@ If you use the scenario data generated by Behavior World Model (BWM), please als
   year={2025}
 }
 ```
+
 ```bibtex
 @article{li2025optimization,
   title={Optimization-Guided Diffusion for Interactive Scene Generation},
@@ -323,6 +300,20 @@ If you use the scenario data generated by Behavior World Model (BWM), please als
 }
 ```
 
+If you find AlgEngine well, please cite as well:
+```bibtex
+@ARTICLE{11353028,
+  author={Liu, Haochen and Li, Tianyu and Yang, Haohan and Chen, Li and Wang, Caojun and Guo, Ke and Tian, Haochen and Li, Hongchen and Li, Hongyang and Lv, Chen},
+  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence}, 
+  title={Reinforced Refinement With Self-Aware Expansion for End-to-End Autonomous Driving}, 
+  year={2026},
+  volume={48},
+  number={5},
+  pages={5774-5792},
+  keywords={Adaptation models;Self-aware;Autonomous vehicles;Pipelines;Planning;Training;Reinforcement learning;Uncertainty;Data models;Safety;End-to-end autonomous driving;reinforced finetuning;imitation learning;motion planning},
+  doi={10.1109/TPAMI.2026.3653866}}
+```
+
 ---
 
 ## 📄 License