| # Data Format and Evaluation Conventions |
|
|
| Return to the [dataset card](README.md) or [download instructions](DOWNLOAD.md). |
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|
| ## File Layout |
|
|
| ```text |
| OccStress/ |
| README.md |
| DOWNLOAD.md |
| FORMAT.md |
| EXTERNAL_DATA.md |
| DISTRIBUTION.md |
| manifests/ |
| meta/ |
| OccStress-nuScenes/ |
| OccStress-Waymo/ |
| OccStress-CARLA/ |
| protocols/ |
| manual/<dataset>/ |
| upstream/<dataset>/<subtrack>/<source>/ |
| position_sweep/OccStress-nuScenes/<setting>/ |
| occ/ |
| manual/<dataset>/<family>/<severity-if-applicable>/ |
| upstream/<dataset>/<subtrack>/<source>/<condition>/ |
| events/ |
| manual/<dataset>/ |
| ``` |
|
|
| `<dataset>` is one of `OccStress-nuScenes`, `OccStress-Waymo` or |
| `OccStress-CARLA`. Paths in protocols are relative to this shared root. |
| References beginning with `external/<dataset>/` resolve through |
| `OCCSTRESS_EXTERNAL_ROOT`; external assets are not bundled in this tree. |
|
|
| | Location | Contents | |
| | --- | --- | |
| | `meta/<dataset>/dataset.json` | Scene/frame/anchor counts, temporal window, grid and source metadata | |
| | `meta/<dataset>/` | Class mapping and dataset-specific pose/control metadata or dependency descriptions | |
| | `protocols/` | Anchor-aligned evaluation records and corruption/temporal settings | |
| | `occ/` | Canonical derived occupancy NPZ assets shared across temporal protocols | |
| | `events/` | Corruption event metadata where provided | |
| | `manifests/` | Inventories and validation coverage | |
|
|
| Upstream clean predictions are model outputs, not official clean GT. |
| Misalignment uses transformation metadata rather than a second full occupancy |
| copy. Do not duplicate assets for every temporal protocol. |
|
|
| ## Temporal and Label Conventions |
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|
| | Field | Convention | |
| | --- | --- | |
| | Canonical input window | Four historical states plus current: -2.0, -1.5, -1.0, -0.5, 0.0 seconds | |
| | Future targets | Six actual future states: +0.5, +1.0, +1.5, +2.0, +2.5, +3.0 seconds | |
| | Derived grid | 200 x 200 x 16 | |
| | Canonical labels | Occ3D 18-class space, including free space; actual class support is dataset-dependent | |
| | Anchor selection | Complete H4/current/F6 windows within a scene; identical anchors across its protocols | |
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| GenieDrive uses the last four observed states and does not observe -2.0 seconds. |
| Record the actual model input window and control strategy in every comparison. |
| Do not replace the first future target with current-frame reconstruction. |
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|
| The nuScenes position sweep includes ten hard settings, each with a clean |
| reference and five single-state injection positions. Compare the four jointly |
| observed positions across four- and five-state models; an unobserved earliest |
| state is not evidence of robustness. |
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| Native Waymo `voxel_label` must be mapped using the supplied class map. Derived |
| `semantics` arrays are already canonical and must not be mapped again. |
| CARLA's native UniOcc arrays are left-handed; the evaluation view is |
| x-forward/y-left/z-up. The external preparation tool maps labels and flips grid |
| axis 1 exactly once while preserving the published right-handed controls. |
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|
| For CARLA, command order is `[right, left, straight]`. At the sixth future |
| state, local y <= -2 m selects right and y >= 2 m selects left; otherwise |
| straight. Non-anchor tail frames retain future-validity masks and a straight |
| fallback. Every evaluated anchor has six valid future targets. |
| Traffic mirrors y consistently in occupancy, poses and trajectories, and swaps |
| the right/left command entries. Preserve these transformations when adapting |
| another model. |
|
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| ## Validation Scope |
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|
| Report semantic mIoU and binary occupancy IoU per future horizon and identify |
| which horizons are averaged. Keep the metric convention, class support and |
| control policy explicit. Historical paper scores and the code release's |
| `occstress-present-gt-v1` convention can differ in absent-class handling and |
| must not be mixed without qualification. |
|
|
| Preparation checks cover protocol structure, anchor counts, relative-path |
| resolution, NPZ members, grid shapes, legal labels and finite values. CARLA |
| controls and traffic transforms have separate audits. The complete clean |
| dependency check covers 14,377 GT references for existence and nonzero size. |
| Loader equivalence and GPU compatibility checks are sampled, not exhaustive |
| reruns of every model/protocol combination. |
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| Public coverage is recorded in `manifests/protocols.json`, |
| `manifests/validation_coverage.json` and the CARLA control/metadata audit files. |
| Internal job records and condition-level completion markers are not distributed. |
| Event JSON files omit machine-specific `source_path` and `output_path` provenance; |
| their numerical corruption metadata and occupancy contents are preserved. |
| Use `packages.json`, not preparation receipts, to check download availability. |
| Preparation status does not certify distribution permission or paper-score |
| reproduction. |
|
|
| ## Sources |
|
|
| The source datasets are [Occ3D](https://github.com/Tsinghua-MARS-Lab/Occ3D), |
| [nuScenes](https://www.nuscenes.org/) and [Waymo](https://waymo.com/open/), plus |
| [UniOcc CARLA](https://huggingface.co/datasets/tasl-lab/uniocc/tree/e81775b36e376f591a1145ca054b72fd541a67eb) |
| (`Carla-2Hz-val`, three 120-frame scenes). Cite the corresponding datasets, |
| corruption operators and upstream models in addition to OccStress. |
|
|
| Access to these derived assets does not grant access to the source datasets or |
| override their terms. Obtain the required source registration and permissions |
| before use. This collection has source-dependent terms, not a blanket MIT |
| license; see [DISTRIBUTION.md](DISTRIBUTION.md). |
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|
