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The dataset generation failed
Error code: DatasetGenerationError
Exception: TypeError
Message: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1539, in _prepare_split_single
for key, record in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 621, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 131, in _generate_examples
for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
for filename, f in tar_iterator:
^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/track.py", line 49, in __iter__
for x in self.generator(*self.args):
~~~~~~~~~~~~~~^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 1419, in _iter_from_urlpath
with xopen(urlpath, "rb", download_config=download_config, block_size=0) as f:
~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 976, in xopen
file_obj = fs.open(paths[0], mode)
File "<string>", line 3, in open
File "/usr/local/lib/python3.14/unittest/mock.py", line 1176, in __call__
return self._mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1180, in _mock_call
return self._execute_mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1247, in _execute_mock_call
result = effect(*args, **kwargs)
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 794, in wrapped
tracker.files[urlpath] = {"read": 0, "size": int(f.size)}
~~~^^^^^^^^
TypeError: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1379, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 956, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1401, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1579, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
npz dict | __key__ string | __url__ string |
|---|---|---|
{
"key": "OLD_Town01-v2-0049_take0_000013",
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"obs": null,
"any": null
} | 898f08d06f3a47787aae1b9798fb9de2464a61c3d4a3373cd173bfa2e34ac0da | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town01-v2-0049_take1_000008",
"shape": null,
"obs": null,
"any": null
} | 31c97e45b785dac141b0709d799166e75449014c8185e12bd17bd43822041223 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town01-v2-0049_take1_000011",
"shape": null,
"obs": null,
"any": null
} | a5bb6b288a2172384d19aa80656971082c70dfe14ca601b2b60be0e3d67145d5 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town01-v2-0111_take0_000013",
"shape": null,
"obs": null,
"any": null
} | dee794dc7f15f738a39c75e739a893e2010c0d8ce82a8d83df3555f3bf7fba87 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town01-v2-0111_take0_000018",
"shape": null,
"obs": null,
"any": null
} | 4935ae5db3ab649cca6caa088b7888db5ecb02a17960d11454a83f6f7a329cf8 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town01-v2-0116_take0_000007",
"shape": null,
"obs": null,
"any": null
} | f9e517cbcdb2c50f3c59e144c8ac30103b7cae06c44dc77e4ab0079c33a7bf64 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town01-v2-0116_take1_000017",
"shape": null,
"obs": null,
"any": null
} | 4d8e2dd14f085154cf1c7271fc122158d612fac253603c9029a36713ac5773f0 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0016_take0_000000",
"shape": null,
"obs": null,
"any": null
} | 7f204d28d0328e6642a97e8fbfd9e47bce588589603e17e4a4cd5413c3f43587 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0016_take0_000007",
"shape": null,
"obs": null,
"any": null
} | e952679c325cec749d0b39f4d698333d3425bf7cb8fafa843028a233d3544dac | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take0_000002",
"shape": null,
"obs": null,
"any": null
} | dd873b42962134ee23d1b79084f8b9a628a0ac09382802c7dabf8819ec1a5eb0 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take0_000007",
"shape": null,
"obs": null,
"any": null
} | fbbf1e5e3732130a6aef2c3f2bcdae80526b551b1a0a7c7638e6f74ce4e8c9db | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take0_000010",
"shape": null,
"obs": null,
"any": null
} | 12ad813980c7084f477977b402ec0d1c21c1f2ea97b06de5d1c48e68a131de6b | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take0_000016",
"shape": null,
"obs": null,
"any": null
} | 6fb16df66ca396a78b67296561caecec90ca36ee04776db8e68190671663dd34 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take0_000018",
"shape": null,
"obs": null,
"any": null
} | 8a84f8b0523f9fd2b0891cac5162bff5b48c622f1635678ab94d15296fb946b0 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take1_000001",
"shape": null,
"obs": null,
"any": null
} | e450f6f60726d18fdac7e9dcd607d70b2784706dd400590283582d03b3224ab1 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take1_000005",
"shape": null,
"obs": null,
"any": null
} | f0a211e9e1e5f8e34002292901505b6adcd630fe1579632b5078fd3d51882b9a | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take1_000009",
"shape": null,
"obs": null,
"any": null
} | f90eb7da73282975ca34547f9fcb463a40b233b4bf42790ddd8c0fad2297dc28 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take1_000012",
"shape": null,
"obs": null,
"any": null
} | 9f758eabf52f12bfeea99e19aac120e492933e67d61342fbabbc1ccc6cfa77f0 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0082_take1_000015",
"shape": null,
"obs": null,
"any": null
} | 086415aef7ab9c0001f0385148c4826c9fe68425f3b89cfeefcc2461c8482702 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0177_take0_000002",
"shape": null,
"obs": null,
"any": null
} | 5092bd8d38322da362e8857ff7bd9bb7382aeb86054687b46f4dfa774afcba8c | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0177_take0_000016",
"shape": null,
"obs": null,
"any": null
} | fb142d924eaa89c62fa596a6ac0c5c99266d7de5440df0c296458ad4bed81a5b | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0177_take1_000010",
"shape": null,
"obs": null,
"any": null
} | ad8e41829d29fc09089e88f9ac8fa07c7cf959ccf06ce25b318d2703e265eec2 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0177_take1_000019",
"shape": null,
"obs": null,
"any": null
} | a2c08cc13397a63cf56b7164ef50c83cf756af0d3ae6be5c2212f37c680db503 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0184_take0_000008",
"shape": null,
"obs": null,
"any": null
} | ff9247bd159ed2bfb0d731b66b7dcbbe2de00f895e1cbb38b79fe1522d1236cf | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0184_take0_000018",
"shape": null,
"obs": null,
"any": null
} | 2e49af6c27639f481047215374c27693397d2cc4160014e558bd1353133843d9 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0184_take1_000002",
"shape": null,
"obs": null,
"any": null
} | b47f868512f7414b155d196400b9e55a6ee5413129b36b5d9aeac8239bd39afa | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town06-v2-0184_take1_000012",
"shape": null,
"obs": null,
"any": null
} | 5fc80e68070f93ea3dd11c308d3a5ce64a821f832108b99be6884f5eece07164 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0003_take0_000004",
"shape": null,
"obs": null,
"any": null
} | 5560134e13adfe85c6eb01483fbbca55648aed14668405b85b6a3023a9b5a75e | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0003_take0_000010",
"shape": null,
"obs": null,
"any": null
} | 3f4a46f1612b58e37a5a6783ded060f863de81b3c5f66d389b431478d3ccba06 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0003_take1_000001",
"shape": null,
"obs": null,
"any": null
} | afb1ab6739c707306a1705d401fc13e70cd0bd2f98fa983b1e3add507415798c | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0003_take1_000002",
"shape": null,
"obs": null,
"any": null
} | 36706052e81f858faa53941dd75eeba1b0b7094191d6d9ac7cf7562368e800fa | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0003_take1_000006",
"shape": null,
"obs": null,
"any": null
} | bf3c99ab8ff51301d16d7be7dbc0b6ce001ee9d5cc742c1526566331d8eb3d54 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0003_take1_000009",
"shape": null,
"obs": null,
"any": null
} | 9c213fc6a770b6a229eef65738acc032ce090651f260592e3c4ea73bc049c289 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0042_take0_000003",
"shape": null,
"obs": null,
"any": null
} | d70104f4711872e2802eac0634606f8cc83051b4d68dcd2114a0151970cfc04c | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0042_take0_000013",
"shape": null,
"obs": null,
"any": null
} | 1ae172415ba38eca03a433b3c843841a9d54cc6b35770a84a202d3b1bc15ca4b | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0042_take1_000009",
"shape": null,
"obs": null,
"any": null
} | d64bda77a4a5c425170a77e180369a622d643bbd98f5a425a568b7ff1111d532 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0042_take1_000019",
"shape": null,
"obs": null,
"any": null
} | 72c896212c4ec039e78d47c5d9bde5031fcba4156fff9d639fd5e1e4cd6cd6dc | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0084_take0_000002",
"shape": null,
"obs": null,
"any": null
} | dbf5e36ad1c317ee28382f51eb5edac1bfee8168a806f2bc30848956dffb5ceb | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0084_take1_000005",
"shape": null,
"obs": null,
"any": null
} | e1c6d268ca3420992f10a17486b458a69a3e25ad5972fb2dca0a5680cdc3160d | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0220_take0_000007",
"shape": null,
"obs": null,
"any": null
} | 334cd0f3510ab7d096e45c9a5eebca0f3c1a8c1f2a460719c31deb7375c90e49 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0220_take0_000010",
"shape": null,
"obs": null,
"any": null
} | 621df38ff7f25ba9438d265773caf5189a606702058c50b0740f875ad3dc12d8 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0220_take0_000014",
"shape": null,
"obs": null,
"any": null
} | 9acd887b7435dafae9db0f37538f51f1e8f994f1b023250ce1d54029d72d95e5 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0220_take1_000012",
"shape": null,
"obs": null,
"any": null
} | 899dba465aaaf75ebd7ab1cb15d87fddf50972d88bb13f0ff2be0ba6e20d7e72 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0220_take1_000018",
"shape": null,
"obs": null,
"any": null
} | 3c7fbcc23e1b68b387abb530f38170b49a92fd42e2d08d1fd7ba119b20c314e3 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0252_take0_000004",
"shape": null,
"obs": null,
"any": null
} | c68d3e3f626fe184e18fbb0fd8918fcae7617212439fc060e96cc614c7ea6d17 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0252_take0_000011",
"shape": null,
"obs": null,
"any": null
} | 51cbc8e31a261f2bcf05c3cc7643ef3609820e9df05a2695c9966018fd0ccff2 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0252_take0_000018",
"shape": null,
"obs": null,
"any": null
} | 754cad1f53bafa2621d9fcdf99abb93cc331479c098491d18fed5a972850b0c7 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
{
"key": "OLD_Town12-seed-0252_take1_000009",
"shape": null,
"obs": null,
"any": null
} | e3506ca598b837b5a622bc92e08edcfe8ddf7574607da0a6dbe4e90887cc6a72 | hf://datasets/KAS2003/xfield-sim-core@09bfc057a9272548d37ced31c5f36c33e90af89a/data/dev/part_0000.tar.zst |
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End of preview.
XField Simulation Core
自车 RGB 和复数雷达的仿真数据，用于非视距场景恢复、车辆定位与传感器融合。每帧以 key 配对测量、标定和监督。
| 划分 | 帧数 | 用途 |
|---|---|---|
| fit | 29,223 | 训练 |
| dev | 1,484 | 开发评价 |
| paired_eval | 3,270 | 锁定测试，含 1,635 对有车／移车采集 |
读取一帧
下载 read_example.py，安装 NumPy、Pillow 和 huggingface_hub 后运行下面的命令。
python read_example.py
示例读取同一个 Town12 训练帧，输出 RGB、雷达 cube、相机矩阵和监督，并保存一张并排的预览图。RGB 为 640×360，复数雷达为 512×25×64，对应距离、扫描角和 Doppler。
数据内容
训练输入包括雷达 cube、RGB、相机内外参和图像前端的深度、语义特征。监督包括占据层、回波角色、反射面、折回目标、车辆与静态恢复标签。3,486 个训练帧另有六类语义、高度和车道监督，用 dense_present 判断。测试输入和评分标签分别存放。
训练与评测
下载 xfield_sim.py，安装 numpy zstandard filelock huggingface_hub。下面的代码取一份已发布的训练样本。读取时只下载对应分片。
from xfield_sim import XFieldSim
train = XFieldSim("fit")
key = train.available_keys()[0]
frame = train[key]
radar = frame["inputs"]["cube"]
rgb = frame["inputs"]["image_rgb"]
labels = frame["targets"]
需要本地副本时，可以用下面的命令下载当前已发布的文件。
hf download KAS2003/xfield-sim-core --repo-type dataset --local-dir ./xfield-sim-core
已有本地副本可使用 XFieldSim("fit", local_dir="./xfield-sim-core")。源数据按实际访问口径约 248.48 GB，其中训练约 212.01 GB。下载大小取决于分片压缩。
当前发布进度 · 字段与使用 · 训练与评测划分 · 复现代码
仿真采集来源为 CARLA X-band Radar NLOS。
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