---
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
```