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### TruckDrive Dataset NONCOMMERCIAL License Agreement
TORC ROBOTICS TRUCKDRIVE DATASET NON-COMMERCIAL LICENSE
Version 1.0 — Effective May 1, 2026
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License.
### TruckDrive Dataset COMMERCIAL License Agreement
Commercial Licensing
TORC ROBOTICS TRUCKDRIVE DATASET
Is a Commercial License Required?
If Your use of the Dataset constitutes Commercial Use as defined in
LICENSE-NONCOMMERCIAL.txt, You must obtain a commercial license before
accessing or using any data.
See COMMERCIAL-USE-POLICY.txt for a plain-language guide to determining
whether Your use qualifies as commercial.
What a Commercial License Covers
A commercial license grants rights beyond those available under the Torc
Robotics Non-Commercial License v1.0, including:
- Use of the Dataset in connection with commercial products, services,
or internal R&D at autonomous vehicle and related technology companies
- Training, fine-tuning, or evaluating commercial machine learning
models using the Dataset
- Integration of the Dataset or Adapted Material into commercial
software or data pipelines
- Use by contractors and consultants working on behalf of commercial
entities
Commercial license terms are negotiated based on the nature, scope, and
duration of use.
How to Obtain a Commercial License
Email: licensing@torc.ai
Please include the following in your initial inquiry:
1. Your organization's name and primary business description 2. A description
of your intended use of the Dataset 3. The anticipated scope and duration of
use 4. Whether you intend to distribute Adapted Material
Existing Non-Commercial Users
If You are currently using the Dataset under the Non-Commercial License and
Your circumstances change such that Your use becomes Commercial Use, You must
cease commercial use immediately and contact the Licensor to obtain
appropriate licensing before continuing.
Contact licensing@torc.ai
Copyright (c) 2026 Torc Robotics, Inc. All rights reserved.
extra_gated_button_content: I accept the terms of the TruckDrive Dataset License Agreement
license: other
license_name: truckdrive-dataset
license_link: >-
https://huggingface.co/datasets/Torc-Robotics/TruckDrive/blob/main/LICENSE-NONCOMMERCIAL.txt
viewer: false
TruckDrive: Long-Range Autonomous Highway Driving Dataset
Torc Robotics · Princeton University · CVPR 2026
Filippo Ghilotti, Edoardo Palladin, Samuel Brucker, Adam Sigal, Mario Bijelic, Felix Heide
TruckDrive is a long-range autonomous highway driving dataset designed for heavy-truck safety, perception, prediction, and planning research. It targets high-speed highway operation, where reliable scene understanding hundreds of meters ahead is required for anticipatory planning and safe braking.
This repository hosts the TruckDrive Devkit together with release documentation.
License
See LICENSE-NONCOMMERCIAL.txt for the full non commercial license text.
See LICENSE-COMMERCIAL for the full commercial license text.
Downloading the TruckDrive Dataset
To download the dataset from Hugginfg Face use the provided python script.
Download the full dataset:
python download_truckdrive.py \
--out /PATH/TO/TruckDrive \
--all-scenes \
--all-modalities
To download only one scene:
python download_truckdrive.py \
--out /PATH/TO/TruckDrive \
--scene scene_28_1 \
--all-modalities
To download only specific folders, replace --all-modalities with options such as: --camera --lidar --radar --poses --calibration --annotations --accumulated-gt-depth
To automatically unzip the downloaded files add: --unzip. To automatically remove the downloaded files after unzipping add: --remove-zips-after-unzip.
Highlights
- 475k synchronized multimodal samples
- 165k densely annotated frames
- up to 1,000 m for 2D benchmark annotations
- up to 400 m for 3D benchmark annotations
- 7 long-range FMCW LiDARs, 3 short-range LiDARs, 10 4D radars, and 11-15 cameras
- supports perception, tracking, depth estimation, prediction, planning, and end-to-end driving
Dataset Overview
TruckDrive targets long-range, highway-scale autonomous driving for semi-trucks and other heavy commercial vehicles. It is designed to stress perception and planning systems beyond the short-range assumptions common in urban autonomous-driving benchmarks.
| Item | Paper-reported description |
|---|---|
| Domain | Long-range highway and commercial-vehicle driving |
| Platform | Semi-truck-mounted multimodal sensor suite |
| Synchronized samples | 475k |
| Densely annotated frames | 165k |
| Unlabeled synchronized samples | 310k |
| Sequences | 3,828 sequences recorded over 2 years |
| Sequence duration | 15-25 seconds |
| Average ego trajectory | 500 m per sequence |
| 2D annotation range | Up to 1,000 m |
| 3D annotation range | Up to 400 m |
| Primary operating regime | Highway-speed, long-range truck autonomy |
Devkit
You can find the devkit for the TruckDrive data in the Devkit GitHub Page
Citation
If you find our dataset useful in your work, please cite us!
@inproceedings{ghilotti2026truckdrive,
title = {TruckDrive: Long-Range Autonomous Highway Driving Dataset},
author = {Ghilotti, Filippo and Palladin, Edoardo and Brucker, Samuel and Sigal, Adam and Bijelic, Mario and Heide, Felix},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2026}
}