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| license: cc-by-nc-sa-4.0 |
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| # AlpaSim E2E Challenge 2026 — NuPlan / MTGS Track Data |
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| This dataset contains the official evaluation assets for the **NuPlan / MTGS Track** of the [AlpaSim E2E Closed-Loop Challenge 2026](https://huggingface.co/spaces/nvidia/AlpasimE2EClosedLoopChallenge2026). |
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| 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 |
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| ``` |
| 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 |
| ``` |
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| ### `MTGS_asset/navtest/` |
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| Neural rendering assets used by the [MTGS](https://github.com/OpenDriveLab/MTGS) renderer during closed-loop evaluation. The evaluator mounts these assets into the simulator stack; contestant containers do not have direct access to them. |
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| ### `trajdata_cache/nuplan_test.tar.gz` |
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| Pre-built [trajdata](https://github.com/NVlabs/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 |
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| 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. |
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| 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 |
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| - 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). |
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| For full instructions see the [AlpaSim E2E Challenge README](https://huggingface.co/spaces/nvidia/AlpasimE2EClosedLoopChallenge2026). |
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| ## License |
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| This dataset is released under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). |
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