Datasets:
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license: cc-by-nc-nd-4.0
task_categories:
- robotics
---
This is a aubset of Bench2Drive-Speed's CustomizedSpeedDataset where all clips are shown directly in folders, not .tar.gz files.
Full dataset [is here](https://huggingface.co/datasets/rethinklab/Bench2Drive-Speed/).
# Bench2Drive-Speed
[**Project Page**](https://thinklab-sjtu.github.io/Bench2Drive-Speed/) | [**Paper**](https://huggingface.co/papers/2603.25672) | [**GitHub**](https://github.com/Thinklab-SJTU/Bench2Drive-Speed)
**Bench2Drive-Speed** is a closed-loop benchmark for desired-speed conditioned autonomous driving, enabling explicit control over vehicle behavior through **target speed** and **overtake/follow commands**.
The **CustomizedSpeedDataset** contains **2,100 CARLA driving scenarios** with expert demonstrations and annotated **overtake/follow commands**. The released dataset includes expert target-speed signals only.
## Virtual Target Speed Annotation
You can use a script to generate **virtual target speed** from Bench2Drive-style driving dataset.
1. Find `tools/append_virtual_target_speed.py` in the GitHub repository.
2. Set the path to your dataset in the main function:
```python
# tools/append_virtual_target_speed.py
if __name__ == "__main__":
main(
["/path/to/dataset"] # << modify here
)
```
3. Run the script:
```bash
python tools/append_virtual_target_speed.py
``` |