Datasets:
Modalities:
Text
Formats:
json
Languages:
English
Size:
< 1K
ArXiv:
Tags:
autonomous-driving
vision-language-action
instruction-following
counterfactual-evaluation
carla
realsim
License:
| [ | |
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| "scenes": [ | |
| { | |
| "scene_id": "clipgt-afeb04ed-1568-4525-821e-5991d69b25ee" | |
| } | |
| ], | |
| "simulation_config": { | |
| "assert_zero_decision_delay": true, | |
| "cameras": [ | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_front_wide_120fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| }, | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_front_tele_30fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| }, | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_cross_left_120fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| }, | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_cross_right_120fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| } | |
| ], | |
| "control_timestep_us": 100000, | |
| "ego_mask_rig_config_id": "hyperion_8_1", | |
| "force_gt_duration_us": 1700000, | |
| "force_gt_frame_cache": { | |
| "cache_dir": "${OUTPUT}/frame-cache", | |
| "enabled": false | |
| }, | |
| "min_traffic_duration_us": 3000000, | |
| "n_rollouts": 1, | |
| "n_sim_steps": 138, | |
| "physics_update_mode": "EGO_ONLY", | |
| "planner_delay_us": 0, | |
| "pose_reporting_interval_us": 0, | |
| "render_bundling": "BATCH_RENDER_RGB", | |
| "route_generator_type": "MAP", | |
| "route_start_offset_m": 0.0, | |
| "send_recording_ground_truth": false, | |
| "skip_driver_during_force_gt": true | |
| }, | |
| "smooth_trajectories": true | |
| } | |
| }, | |
| { | |
| "id": "group-05", | |
| "pcu_ids": [ | |
| "pcu-772a785246ac4e518e94c013287c55be" | |
| ], | |
| "user_config": { | |
| "enable_autoresume": false, | |
| "endpoints": { | |
| "controller": { | |
| "n_concurrent_rollouts": 1, | |
| "skip": false | |
| }, | |
| "driver": { | |
| "n_concurrent_rollouts": 1, | |
| "skip": false | |
| }, | |
| "physics": { | |
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| "skip": false | |
| }, | |
| "renderer": { | |
| "n_concurrent_rollouts": 1, | |
| "skip": false | |
| }, | |
| "sensorsim_cache_size": "2", | |
| "trafficsim": { | |
| "n_concurrent_rollouts": 1, | |
| "skip": true | |
| } | |
| }, | |
| "max_rollout_retries": 2, | |
| "nr_workers": 1, | |
| "prometheus": { | |
| "url": "http://127.0.0.1:6001", | |
| "worker_ports": [ | |
| 7910 | |
| ] | |
| }, | |
| "renderer": { | |
| "kind": "sensorsim" | |
| }, | |
| "scene_provider": { | |
| "kind": "usdz", | |
| "trajdata": { | |
| "cache_location": "trajdata_cache", | |
| "dataset": { | |
| "extra_params": { | |
| "num_timesteps_after": 80, | |
| "num_timesteps_before": 30 | |
| } | |
| }, | |
| "desired_dt": 0.1, | |
| "load_vector_map": true, | |
| "num_workers": 4, | |
| "rebuild_cache": false, | |
| "rebuild_maps": false | |
| }, | |
| "usdz": { | |
| "artifact_cache_size": 2, | |
| "data_dir": "${SCENES}" | |
| } | |
| }, | |
| "scenes": [ | |
| { | |
| "scene_id": "clipgt-994977b5-4db6-43eb-950a-c0faaccc930b" | |
| } | |
| ], | |
| "simulation_config": { | |
| "assert_zero_decision_delay": true, | |
| "cameras": [ | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_front_wide_120fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| }, | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_front_tele_30fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| }, | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_cross_left_120fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| }, | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_cross_right_120fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| } | |
| ], | |
| "control_timestep_us": 100000, | |
| "ego_mask_rig_config_id": "hyperion_8_1", | |
| "force_gt_duration_us": 1700000, | |
| "force_gt_frame_cache": { | |
| "cache_dir": "${OUTPUT}/frame-cache", | |
| "enabled": false | |
| }, | |
| "min_traffic_duration_us": 3000000, | |
| "n_rollouts": 1, | |
| "n_sim_steps": 87, | |
| "physics_update_mode": "EGO_ONLY", | |
| "planner_delay_us": 0, | |
| "pose_reporting_interval_us": 0, | |
| "render_bundling": "BATCH_RENDER_RGB", | |
| "route_generator_type": "MAP", | |
| "route_start_offset_m": 0.0, | |
| "send_recording_ground_truth": false, | |
| "skip_driver_during_force_gt": true | |
| }, | |
| "smooth_trajectories": true | |
| } | |
| }, | |
| { | |
| "id": "group-06", | |
| "pcu_ids": [ | |
| "pcu-65102d9d9f324d12b4e347d9aeb3c1f5", | |
| "pcu-782da87d082d490483ede8f4a36ae36b" | |
| ], | |
| "user_config": { | |
| "enable_autoresume": false, | |
| "endpoints": { | |
| "controller": { | |
| "n_concurrent_rollouts": 1, | |
| "skip": false | |
| }, | |
| "driver": { | |
| "n_concurrent_rollouts": 1, | |
| "skip": false | |
| }, | |
| "physics": { | |
| "n_concurrent_rollouts": 1, | |
| "skip": false | |
| }, | |
| "renderer": { | |
| "n_concurrent_rollouts": 1, | |
| "skip": false | |
| }, | |
| "sensorsim_cache_size": "2", | |
| "trafficsim": { | |
| "n_concurrent_rollouts": 1, | |
| "skip": true | |
| } | |
| }, | |
| "max_rollout_retries": 2, | |
| "nr_workers": 1, | |
| "prometheus": { | |
| "url": "http://127.0.0.1:6001", | |
| "worker_ports": [ | |
| 7910 | |
| ] | |
| }, | |
| "renderer": { | |
| "kind": "sensorsim" | |
| }, | |
| "scene_provider": { | |
| "kind": "usdz", | |
| "trajdata": { | |
| "cache_location": "trajdata_cache", | |
| "dataset": { | |
| "extra_params": { | |
| "num_timesteps_after": 80, | |
| "num_timesteps_before": 30 | |
| } | |
| }, | |
| "desired_dt": 0.1, | |
| "load_vector_map": true, | |
| "num_workers": 4, | |
| "rebuild_cache": false, | |
| "rebuild_maps": false | |
| }, | |
| "usdz": { | |
| "artifact_cache_size": 2, | |
| "data_dir": "${SCENES}" | |
| } | |
| }, | |
| "scenes": [ | |
| { | |
| "scene_id": "clipgt-0e256b3c-e706-4d6c-ba17-751e4ab7f226" | |
| }, | |
| { | |
| "scene_id": "clipgt-31ab4b94-98ef-448f-bb1f-e16bc8d5b832" | |
| } | |
| ], | |
| "simulation_config": { | |
| "assert_zero_decision_delay": true, | |
| "cameras": [ | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_front_wide_120fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| }, | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_front_tele_30fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| }, | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_cross_left_120fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| }, | |
| { | |
| "frame_interval_us": 100000, | |
| "height": 1080, | |
| "logical_id": "camera_cross_right_120fov", | |
| "shutter_duration_us": 30000, | |
| "width": 1900 | |
| } | |
| ], | |
| "control_timestep_us": 100000, | |
| "ego_mask_rig_config_id": "hyperion_8_1", | |
| "force_gt_duration_us": 1700000, | |
| "force_gt_frame_cache": { | |
| "cache_dir": "${OUTPUT}/frame-cache", | |
| "enabled": false | |
| }, | |
| "min_traffic_duration_us": 3000000, | |
| "n_rollouts": 1, | |
| "n_sim_steps": 100, | |
| "physics_update_mode": "EGO_ONLY", | |
| "planner_delay_us": 0, | |
| "pose_reporting_interval_us": 0, | |
| "render_bundling": "BATCH_RENDER_RGB", | |
| "route_generator_type": "MAP", | |
| "route_start_offset_m": 0.0, | |
| "send_recording_ground_truth": false, | |
| "skip_driver_during_force_gt": true | |
| }, | |
| "smooth_trajectories": true | |
| } | |
| } | |
| ] | |