| --- |
| license: other |
| license_name: waymo-dataset-license-non-commercial |
| license_link: https://waymo.com/open/terms/ |
| library_name: pytorch |
| tags: |
| - gaussian-splatting |
| - novel-view-synthesis |
| - autonomous-driving |
| - waymo-open-dataset |
| - armgs |
| datasets: |
| - waymo-open-dataset |
| --- |
| |
| # Ours_Waymo_ArmGS |
|
|
| ArmGS checkpoints trained for dynamic urban novel-view synthesis on the Waymo Open Dataset. |
|
|
| ## License and required notice |
|
|
| This model was made using the Waymo Open Dataset, provided by Waymo LLC under the Waymo Dataset License Agreement for Non-Commercial Use. Access, use, redistribution, and modification of this model are governed by that agreement, including its non-commercial restrictions. |
|
|
| Read [WAYMO_DATASET_LICENSE_NOTICE.md](WAYMO_DATASET_LICENSE_NOTICE.md), the included archived agreement, and the [current official terms](https://waymo.com/open/terms/) before downloading or using these files. These checkpoints must not be used in vehicle operation, production systems, or primarily commercial applications. |
|
|
| ## Release contents |
|
|
| - Nine completed 30,000-step training-split runs under `waymo/<sequence>/splatad_30k/`. |
| - One completed 30,000-step validation reference under `waymo/10448102132863604198_472_000_492_000/paper_reference_30k/`. |
| - Every released run includes `checkpoints/final.pt`, the resolved YAML, run metadata, W&B run identity, and final novel-view/reconstruction metric JSON files. |
| - `7566697458525030390_1440_000_1460_000` is not included yet because its 30,000-step training was still running when this release was packaged. |
|
|
| The nine training-split runs use the `streetgs-periodic` split, `PAPER_MODE=0`, and Waymo GT `lidar_box` actor tracking fallback. They must not be described as official SplatAD LINSPACE50 results. The separate validation reference uses CAStrack and centered known-pose COLMAP preprocessing. |
|
|
| See `release_manifest.json` for exact sequence IDs, checkpoint sizes, W&B IDs, and protocol metadata. |
|
|
| ## Loading |
|
|
| These are full PyTorch trainer checkpoints produced by the ArmGS implementation, not standalone `safetensors` weights. Use the matching ArmGS code and the included resolved config. As with any pickle-based PyTorch checkpoint, only load files obtained from a trusted source. |
|
|
| ```python |
| import torch |
| |
| checkpoint = torch.load("waymo/<sequence>/splatad_30k/checkpoints/final.pt", map_location="cpu") |
| print(checkpoint["trainer"]["step"]) |
| ``` |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{waymo_open_dataset, |
| title = {Waymo Open Dataset: An autonomous driving dataset}, |
| website = {https://www.waymo.com/open}, |
| year = {2019--2025} |
| } |
| ``` |
|
|
|
|
