README.md

metadata

license: cc-by-nc-sa-4.0

AlpaSim E2E Challenge 2026 — NuPlan / MTGS Track Data

This dataset contains the official evaluation assets for the NuPlan / MTGS Track of the AlpaSim E2E Closed-Loop Challenge 2026.

These resources are managed exclusively by the trusted evaluator. Contestants do not need to package or depend on them in their submitted driver images.

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Dataset Structure

MTGS_asset/
└── navtest/
    ├── assets/
    │   ├── part001.tar.gz
    │   ├── ...
    │   └── part015.tar.gz   # MTGS neural rendering assets (~456 GB total)
    └── configs.tar.gz       # navtest scene configurations

trajdata_cache/
└── nuplan_test.tar.gz       # trajdata cache for nuPlan test scenes

MTGS_asset/navtest/

Neural rendering assets used by the MTGS renderer during closed-loop evaluation. The evaluator mounts these assets into the simulator stack; contestant containers do not have direct access to them.

trajdata_cache/nuplan_test.tar.gz

Pre-built trajdata cache for the nuPlan test split. The evaluator uses this cache to initialize and drive nuPlan scenes during evaluation rollouts.

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How Evaluation Works

1. The evaluator starts the full AlpaSim simulator stack (physics, traffic, MTGS renderer) using the assets in this dataset.
2. The contestant's driver container receives rendered camera images and scene state over gRPC and must respond with control commands within 0.1 s per Drive call.
3. Results are aggregated and posted to the leaderboard.

The official evaluation preset is +e2e_challenge=ec2 (topology=8gpu_36rollouts): 12 contestant replicas across GPUs 4–7, each handling 3 concurrent rollouts.

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Contestant Submission Requirements

• Implement egodriver.EgodriverService (see src/grpc/alpasim_grpc/v0/egodriver.proto).
• Image size ≤ 40 GiB; do not bundle nuPlan data, trajdata caches, navtest configs, or MTGS assets.
• Outbound network access is blocked during evaluation; the root filesystem is read-only.
• Writable scratch space: /tmp (2 GiB), /run (64 MiB).

For full instructions see the AlpaSim E2E Challenge README.

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License

This dataset is released under CC BY-NC-SA 4.0.