language2drive.OpenloopTrack.nScenes/README.md

# Language2Drive nuScenes open-loop replay assets

Private replay assets for `language2drive.OpenloopTrack.nScenes` in the Language2Drive source repository. Authorized downloads require a read-scoped Hugging Face token. Other dataset directories are unchanged.

The archive contains 75 frozen public PCUs, evaluator-only contracts, three nuScenes map expansion files, and 720 heldout predictions per model for four models. It supports CPU replay of paper Table 9 without raw sensor files or model weights. Evaluate contracts only in the scorer, never in a model adapter.

Hashes and file inventory are in `assets.json`. Original maps and nuScenes-derived data follow CC BY-NC-SA 4.0. Credit Holger Caesar et al., *nuScenes: A multimodal dataset for autonomous driving*, CVPR 2020, https://www.nuscenes.org/ . See `assets/DATA_LICENSE.md` in the archive. Source code retains its separate MIT license.