README.md

metadata

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.

Bench2Drive-Speed

Project Page | Paper | GitHub

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:

# tools/append_virtual_target_speed.py
if __name__ == "__main__":
    main(
        ["/path/to/dataset"] # << modify here
    )

3. Run the script:

python tools/append_virtual_target_speed.py