---
pretty_name: 2D and 3D Traffic Elements for nuScenes, NAVSIM, and SimScale
---

# 2D and 3D Traffic Elements for nuScenes, NAVSIM, and SimScale

This repository provides YOLO-format 2D Traffic Element labels and generated 3D Traffic Element center points for the nuScenes, NAVSIM, and SimScale datasets. It also includes the released YOLO checkpoint used for 2D Traffic Element detection.

## Resources

| Resource | Repository path | Description |
| --- | --- | --- |
| nuScenes Traffic Elements | [`nuscenes_traffic_elements.tar.gz`](https://huggingface.co/datasets/Zzz0918/Traffic_Elements/blob/main/nuscenes_traffic_elements.tar.gz) | 2D labels and 3D center points for nuScenes |
| NAVSIM Traffic Elements | [`navsim_traffic_elements.tar.gz`](https://huggingface.co/datasets/Zzz0918/Traffic_Elements/blob/main/navsim_traffic_elements.tar.gz) | 2D labels and 3D center points for NAVSIM |
| SimScale Traffic Elements | [`simscale_traffic_elements.tar.gz`](https://huggingface.co/datasets/Zzz0918/Traffic_Elements/blob/main/simscale_traffic_elements.tar.gz) | 2D labels and 3D center points for SimScale |
| YOLO detector checkpoint | [`weights/yolo/best.pt`](https://huggingface.co/datasets/Zzz0918/Traffic_Elements/blob/main/weights/yolo/best.pt) | Weights for 2D Traffic Element detection |

Related resources: [Paper](https://arxiv.org/abs/2608.18035) | [Project Page](https://zzongzheng0918.github.io/TE-Aware-E2E-AD/) | [Code](https://github.com/ZZongzheng0918/TE-Aware-E2E-AD)

## Download

Download the complete release:

```bash
huggingface-cli download Zzz0918/Traffic_Elements \
  --repo-type dataset \
  --local-dir traffic_elements_release
```

The three dataset archives and YOLO checkpoint can also be downloaded individually from the links in the table above.

## Dataset Extraction

Run the following commands from the root of the [TE-Aware-E2E-AD](https://github.com/ZZongzheng0918/TE-Aware-E2E-AD) repository:

```bash
tar -xzf traffic_elements_release/nuscenes_traffic_elements.tar.gz
tar -xzf traffic_elements_release/navsim_traffic_elements.tar.gz
tar -xzf traffic_elements_release/simscale_traffic_elements.tar.gz
```

The extracted files follow this structure:

```text
data/
|-- nuscenes/
|   |-- traffic_elements/
|   |   `-- <sample_token>.json
|   `-- traffic_elements_2d/
|       `-- labels/
|           `-- <image_name>.txt
|-- navsim/
|   |-- traffic_elements/
|   |   |-- trainval/
|   |   |   `-- <log_name>/
|   |   |       `-- <image_token>.json
|   |   `-- test/
|   |       `-- <log_name>/
|   |           `-- <image_token>.json
|   `-- traffic_elements_2d/
|       |-- trainval/
|       |   `-- <log_name>/
|       |       `-- labels/
|       |           `-- <image_token>.txt
|       `-- test/
|           `-- <log_name>/
|               `-- labels/
|                   `-- <image_token>.txt
`-- simscale/
    |-- traffic_elements/
    |   `-- <split>/
    |       `-- <scene_name>/
    |           `-- <image_token>.json
    `-- traffic_elements_2d/
        `-- <split>/
            `-- <scene_name>/
                `-- labels/
                    `-- <image_token>.txt
```

## YOLO Detector Weights

The released detector checkpoint is stored at `weights/yolo/best.pt`. Copy it to the location expected by the inference scripts:

```bash
mkdir -p ultralytics/weights
cp traffic_elements_release/weights/yolo/best.pt ultralytics/weights/best.pt
```

Alternatively, download the checkpoint directly:

```bash
mkdir -p ultralytics/weights
curl -L "https://huggingface.co/datasets/Zzz0918/Traffic_Elements/resolve/main/weights/yolo/best.pt?download=true" \
  -o ultralytics/weights/best.pt
```

The resulting code-repository path should be:

```text
TE-Aware-E2E-AD/
`-- ultralytics/
    `-- weights/
        `-- best.pt
```

Please follow the licenses and terms of use of the original nuScenes, NAVSIM, and SimScale datasets.