Datasets:

SIMFORGE-AI
/

simlog-25k

---
license: cc-by-nc-4.0
pretty_name: SIMLOG-25k
language:
- en
tags:
- autonomous-driving
- driving-simulation
- openscenario
- scenario-generation
- closed-loop
size_categories:
- 10K<n<100K
configs:
- config_name: default
  data_files:
  - split: train
    path: index/train.parquet
  - split: validation
    path: index/val.parquet
  - split: test
    path: index/test.parquet
extra_gated_prompt: "SIMLOG-25k is licensed under Creative Commons Attribution-NonCommercial 4.0 International (CC-BY-NC-4.0): you may use, share and adapt it for non-commercial purposes, with attribution to SimForge and a note of any changes. Commercial use needs a commercial licence from SimForge (contact@simforge.ai). SimForge uses this information to understand who uses the dataset and to contact you if you opt in; see https://simforge.ai/privacy."
extra_gated_fields:
  "I agree to use this dataset under CC BY-NC (non-commercial) and to attribute SimForge": checkbox
  "Company / organisation": text
  "Role":
    type: select
    options:
      - "Researcher"
      - "Engineer"
      - "Student"
      - "Product / business"
      - "Other"
  "Intended use":
    type: select
    options:
      - "Closed-loop evaluation"
      - "RL training"
      - "Perception / sensor simulation"
      - "Dataset research"
      - "Other"
  "Country": country
  "May we contact you about SimForge?":
    type: checkbox
    optional: true
extra_gated_button_content: Agree and access the dataset
---
# SIMLOG-25k

24,483 driving scenarios on 7 SimForge Worlds (HD maps of real places), for closed-loop simulation. Each scenario describes a driving situation: the map, the vehicles and people in it, where they go and what triggers what. There is no video and no sensor data in this dataset; you simulate or render a scenario yourself with SimForge.

Version 0.2.2 · format `simforge.public-dataset/v1` · licence [Creative Commons Attribution-NonCommercial 4.0 International](https://creativecommons.org/licenses/by-nc/4.0/) (commercial licence available).

## Worlds

| World | Scenarios |
|---|---:|
| Belmont Research Center (`belmont-research-center`) | 915 |
| Di Rosa, San Francisco (`di-rosa-sf`) | 3,951 |
| Easterbrook Discovery School (`easterbrook-discovery-school`) | 760 |
| El Camino Road, Palo Alto (`el-camino-road`) | 2,989 |
| Richmond Field Station (`richmond-field-station`) | 206 |
| San Ramon, phase 1 (`san-ramon-phase-1`) | 11,511 |
| Yale Street, Palo Alto (`yale-street`) | 4,151 |

The Worlds are available after a free sign-in, with `simforge maps pull <map>` (see https://simforge.ai/docs).

## Files

Each scenario is a folder `scenarios/<map>/<id[:2]>/<id>/` (`<id[:2]>`: the first two characters of its id, which keeps every folder far below 10,000 entries):

| File | Format |
|---|---|
| `document.json` | the scenario: SimForge scenario document v4 (`schema/`) |
| `recordings/<sha256>.rec.json.gz` | the motion tracks the scenario plays back, if any: `simforge.recording/v1`, positions on the map's OpenDRIVE frame at 50 Hz |
| `trace.json.gz` | the simulation result: `simforge.trace/v5`, every actor's pose per 20 ms tick, as the SimForge runtime 0.31.0 (build 1163) simulated it |
| `scenario.xosc` | the same scenario as ASAM OpenSCENARIO 1.4, for other simulators |

At the root: `scenarios.jsonl` (one line per scenario: id, title, map, split, the checks' readings, files and their sha256), `index/<split>.parquet` (the same index, one table per split), `manifest.json` (counts, the runtime, the gates), `SHA256SUMS` (`sha256sum -c SHA256SUMS`), `schema/` (`scenario-template.v4.schema.json`, `recording.v1.schema.json`) `LICENSE` and `NOTICE`.

12,691 scenarios use a CARLA model in place of a vehicle or prop model that is not in the public asset pack; each substitution is listed in its `scenarios.jsonl` line (`actorSubstitutions`).

## Splits

| Split | Scenarios |
|---|---:|
| train | 19,297 |
| val | 2,320 |
| test | 2,866 |

The splits are fixed: a scenario keeps its split in every version of the dataset.

## How scenarios were checked

Every scenario was simulated afresh on the released SimForge runtime, and is in the dataset only if:

1. it simulates, and its ego and key actors move only in physically possible ways;
2. it has no collision, unless the scenario is labelled as a collision scenario;
3. none of its ego and key vehicles runs a red light or rolls through a stop line, and no crossing is a possible violation that could not be checked. Crossings the measurement could not observe are counted per scenario (`crossings` in `scenarios.jsonl`).

Each scenario's quality verdict comes from a closed-loop simulation on the released runtime; a re-simulated sample of 468 scenarios was byte-identical.

Test sets and duplicates are removed. Scenarios that use an actor model outside the public CARLA asset pack are either mapped to the CARLA model with the same blueprint or left out.

## Licence

The scenarios are licensed under [Creative Commons Attribution-NonCommercial 4.0 International](https://creativecommons.org/licenses/by-nc/4.0/) (`LICENSE` holds the full legal code): free for research, evaluation and other non-commercial use, with attribution. **A commercial licence is available** from SimForge: [contact@simforge.ai](mailto:contact@simforge.ai). Access is granted after you accept these terms on this page.

## How to cite and attribute

When you share this dataset or anything made from it, credit SimForge, name the dataset and its version, link this page and the licence, and state whether you modified it (`NOTICE` has the same text):

> "SIMLOG-25k" (version 0.2.2) by SimForge, https://huggingface.co/datasets/SIMFORGE-AI/simlog-25k, licensed under CC-BY-NC-4.0 (https://creativecommons.org/licenses/by-nc/4.0/). Modified: [what you changed, or "no"].

```bibtex
@misc{simlog_25k,
  title  = {SIMLOG-25k},
  author = {{SimForge}},
  year   = {2026},
  note   = {Version 0.2.2},
  url    = {https://huggingface.co/datasets/SIMFORGE-AI/simlog-25k}
}
```

	---
	license: cc-by-nc-4.0
	pretty_name: SIMLOG-25k
	language:
	- en
	tags:
	- autonomous-driving
	- driving-simulation
	- openscenario
	- scenario-generation
	- closed-loop
	size_categories:
	- 10K<n<100K
	configs:
	- config_name: default
	data_files:
	- split: train
	path: index/train.parquet
	- split: validation
	path: index/val.parquet
	- split: test
	path: index/test.parquet
	extra_gated_prompt: "SIMLOG-25k is licensed under Creative Commons Attribution-NonCommercial 4.0 International (CC-BY-NC-4.0): you may use, share and adapt it for non-commercial purposes, with attribution to SimForge and a note of any changes. Commercial use needs a commercial licence from SimForge (contact@simforge.ai). SimForge uses this information to understand who uses the dataset and to contact you if you opt in; see https://simforge.ai/privacy."
	extra_gated_fields:
	"I agree to use this dataset under CC BY-NC (non-commercial) and to attribute SimForge": checkbox
	"Company / organisation": text
	"Role":
	type: select
	options:
	- "Researcher"
	- "Engineer"
	- "Student"
	- "Product / business"
	- "Other"
	"Intended use":
	type: select
	options:
	- "Closed-loop evaluation"
	- "RL training"
	- "Perception / sensor simulation"
	- "Dataset research"
	- "Other"
	"Country": country
	"May we contact you about SimForge?":
	type: checkbox
	optional: true
	extra_gated_button_content: Agree and access the dataset
	---

	# SIMLOG-25k

	24,483 driving scenarios on 7 SimForge Worlds (HD maps of real places), for closed-loop simulation. Each scenario describes a driving situation: the map, the vehicles and people in it, where they go and what triggers what. There is no video and no sensor data in this dataset; you simulate or render a scenario yourself with SimForge.

	Version 0.2.2 · format `simforge.public-dataset/v1` · licence [Creative Commons Attribution-NonCommercial 4.0 International](https://creativecommons.org/licenses/by-nc/4.0/) (commercial licence available).

	## Worlds

	\| World \| Scenarios \|
	\|---\|---:\|
	\| Belmont Research Center (`belmont-research-center`) \| 915 \|
	\| Di Rosa, San Francisco (`di-rosa-sf`) \| 3,951 \|
	\| Easterbrook Discovery School (`easterbrook-discovery-school`) \| 760 \|
	\| El Camino Road, Palo Alto (`el-camino-road`) \| 2,989 \|
	\| Richmond Field Station (`richmond-field-station`) \| 206 \|
	\| San Ramon, phase 1 (`san-ramon-phase-1`) \| 11,511 \|
	\| Yale Street, Palo Alto (`yale-street`) \| 4,151 \|

	The Worlds are available after a free sign-in, with `simforge maps pull <map>` (see https://simforge.ai/docs).

	## Files

	Each scenario is a folder `scenarios/<map>/<id[:2]>/<id>/` (`<id[:2]>`: the first two characters of its id, which keeps every folder far below 10,000 entries):

	\| File \| Format \|
	\|---\|---\|
	\| `document.json` \| the scenario: SimForge scenario document v4 (`schema/`) \|
	\| `recordings/<sha256>.rec.json.gz` \| the motion tracks the scenario plays back, if any: `simforge.recording/v1`, positions on the map's OpenDRIVE frame at 50 Hz \|
	\| `trace.json.gz` \| the simulation result: `simforge.trace/v5`, every actor's pose per 20 ms tick, as the SimForge runtime 0.31.0 (build 1163) simulated it \|
	\| `scenario.xosc` \| the same scenario as ASAM OpenSCENARIO 1.4, for other simulators \|

	At the root: `scenarios.jsonl` (one line per scenario: id, title, map, split, the checks' readings, files and their sha256), `index/<split>.parquet` (the same index, one table per split), `manifest.json` (counts, the runtime, the gates), `SHA256SUMS` (`sha256sum -c SHA256SUMS`), `schema/` (`scenario-template.v4.schema.json`, `recording.v1.schema.json`) `LICENSE` and `NOTICE`.

	12,691 scenarios use a CARLA model in place of a vehicle or prop model that is not in the public asset pack; each substitution is listed in its `scenarios.jsonl` line (`actorSubstitutions`).

	## Splits

	\| Split \| Scenarios \|
	\|---\|---:\|
	\| train \| 19,297 \|
	\| val \| 2,320 \|
	\| test \| 2,866 \|

	The splits are fixed: a scenario keeps its split in every version of the dataset.

	## How scenarios were checked

	Every scenario was simulated afresh on the released SimForge runtime, and is in the dataset only if:

	1. it simulates, and its ego and key actors move only in physically possible ways;
	2. it has no collision, unless the scenario is labelled as a collision scenario;
	3. none of its ego and key vehicles runs a red light or rolls through a stop line, and no crossing is a possible violation that could not be checked. Crossings the measurement could not observe are counted per scenario (`crossings` in `scenarios.jsonl`).

	Each scenario's quality verdict comes from a closed-loop simulation on the released runtime; a re-simulated sample of 468 scenarios was byte-identical.

	Test sets and duplicates are removed. Scenarios that use an actor model outside the public CARLA asset pack are either mapped to the CARLA model with the same blueprint or left out.

	## Licence

	The scenarios are licensed under [Creative Commons Attribution-NonCommercial 4.0 International](https://creativecommons.org/licenses/by-nc/4.0/) (`LICENSE` holds the full legal code): free for research, evaluation and other non-commercial use, with attribution. A commercial licence is available from SimForge: [contact@simforge.ai](mailto:contact@simforge.ai). Access is granted after you accept these terms on this page.

	## How to cite and attribute

	When you share this dataset or anything made from it, credit SimForge, name the dataset and its version, link this page and the licence, and state whether you modified it (`NOTICE` has the same text):

	> "SIMLOG-25k" (version 0.2.2) by SimForge, https://huggingface.co/datasets/SIMFORGE-AI/simlog-25k, licensed under CC-BY-NC-4.0 (https://creativecommons.org/licenses/by-nc/4.0/). Modified: [what you changed, or "no"].

	```bibtex
	@misc{simlog_25k,
	title = {SIMLOG-25k},
	author = {{SimForge}},
	year = {2026},
	note = {Version 0.2.2},
	url = {https://huggingface.co/datasets/SIMFORGE-AI/simlog-25k}
	}
	```