Improving perception for Town01 and Town02 (May week 1)

Expected goals:

• Improve perception to work with curves in Town01 and Town02, achieving stable circulation in sharp bends
• Implement a map-tuning strategy to avoid intersections, enabling full laps in Town01, Town02, Town04, and Town06
• Advance training and inference across multiple cities using the SAC algorithm
• Progress on article writing, YOLOP perception refinement, and testbed metric improvements

More details in this link.