Beomseok Kim developed an enhanced evaluation and planning data pipeline for the tier4/driving_log_replayer_v2 and autoware_tools repositories, focusing on trajectory data capture, replay, and analytics. He introduced a ground-truth trajectory source mode for rosbag-based scenario evaluation and expanded the open-loop metrics suite with DLR-style ADE/FDE formats, namespaced metrics, and new measures such as heading error and lane-keeping. Using C++, Python, and ROS, he improved the planning_data_analyzer to support robust topic propagation and vehicle model configuration. The work emphasized reliability through comprehensive unit testing, pre-commit hygiene, and targeted fixes, demonstrating depth in both feature development and quality assurance.