**CrashFactory** turns official traffic crash records into executable, safety-critical simulation scenarios. This dataset is its benchmark: the crash reports it starts from and the complete outputs of every case.
Four reconstructed MTCF crashes from above: rear-end, head-on, angle and sideswipe.
## 📊 Contents
| Database | Cases | Inputs | Outputs |
| --- | --- | --- | --- |
| Michigan Traffic Crash Facts (MTCF) | 100, 20 per crash type | `mtcf/reports.zip` (5 MB) | `mtcf/results.zip` (1.0 GB) |
| NHTSA Crash Investigation Sampling System (CISS) | 48 | `nhtsa/reports.zip` (39 MB) | `nhtsa/results.zip` (137 MB) |
Each folder also holds an `index.csv` with the case ID and crash type of every case, and the crash coordinates for MTCF. Seven MTCF cases additionally include a generated sensor video, see Sensor Videos below.
## 🚀 Download
```bash
hf download HaoweiLi/CrashFactory-Dataset --repo-type dataset --local-dir CrashFactory-Dataset
```
The [data guide](https://github.com/HaoweiLi1/CrashFactory/blob/main/docs/data.md) of the code shows where to unpack the files and how to reconstruct further crashes.
## 📁 Result Folder
`results.zip` holds one folder per case, named `crash_` for MTCF and by the CISS case number for NHTSA:
| File | Content |
| --- | --- |
| `report.yaml` | Crash record in CrashFactory's unified form |
| `map.net.xml` | Road network around the crash (SUMO); also as `map.osm` and `map.xodr` |
| `prevtraj.txt` | Sparse pre-crash states of the crash participants |
| `final.fcd.xml` | Final trajectories; earlier stages are kept as `*.fcd.xml` |
| `final_bev.mp4` | Bird's-eye video of the final scenario |
| `processing.log` | Run log of the pipeline stages |
| `cosmos/` | Inputs and result of sensor simulation, in seven cases |
## 🎥 Sensor Videos
Seven MTCF cases also contain a `cosmos/` folder with the inputs and the result of sensor simulation:
| File | Content |
| --- | --- |
| `streetview_image_.jpg` | Google Street View images around the ego vehicle, one per camera |
| `prompt_.txt` | Scene description written from each image |
| `hdmap_*.mp4` | HDMap control videos of the six cameras |
| `front_view.mp4`, `front_view.txt` | Front-view video generated by NVIDIA Cosmos-Drive (1280×704, 5 s at 24 fps) and the prompt it was generated from |
| `multi_view.mp4`, `multi_view.txt` | Six synchronized views and their prompts, in `crash_2023174894` |
The six cameras are `front`, `front_left`, `front_right`, `rear`, `rear_left` and `rear_right`. `front_view.txt` is a refined version of `prompt_front.txt` that also describes the crash; the generated video varies noticeably with the prompt.
Top: pedestrian downtown at night, pedestrian on a residential road, bicyclist crossing. Bottom: head-on at night, angle, rear-end.
| Case | Crash |
| --- | --- |
| `crash_2023165056` | Head-on at night |
| `crash_2023167829` | Rear-end |
| `crash_2023174894` | Bicyclist struck from behind |
| `crash_2023197392` | Pedestrian downtown at night |
| `crash_2023225879` | Angle at an intersection |
| `crash_2023249707` | Bicyclist crossing a side street |
| `crash_2023298086` | Pedestrian on a residential road |
`multi_view.mp4` holds the six views one after another, 57 frames each, in the order of the cameras above.
The six views of crash_2023174894, arranged around the vehicle.
