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differentiable-render-camouflage-data

Tasks:
Object Detection
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3D
Size:
1K<n<10K
Tags:
autonomous-driving
carla
adversarial-robustness
differentiable-rendering
synthetic-data
3d
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Document raw Stage 2 and Stage 3 snapshots
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metadata 
license: cc-by-4.0
pretty_name: DRC CARLA Multi-Vehicle Camouflage Dataset
annotations_creators:
  - machine-generated
source_datasets:
  - original
task_categories:
  - object-detection
size_categories:
  - 1K<n<10K
tags:
  - autonomous-driving
  - carla
  - adversarial-robustness
  - differentiable-rendering
  - synthetic-data
  - 3d

DRC CARLA Multi-Vehicle Camouflage Dataset

This repository releases the audited synthetic data and geometry assets used to study whether one differentiable vehicle-camouflage generator transfers across vehicle shapes. The release preserves the original split manifests, collection protocols, audit records, and SHA-256 checksums. It is intended for reproducible adversarial-robustness research, including the analysis of negative results.

Release contents

Component Vehicles and role Samples Status
Stage 2 Town10 Audi E-Tron, Tesla Model 3, Ford Mustang, and Jeep Wrangler Rubicon (train); Toyota Prius (validation); Lincoln MKZ 2017 (development holdout) 864 Audited
Stage 3 Town10 Nissan Patrol 2021 (outcome-sealed confirmation) 144 Audited; source-detector confirmation failed
Geometry assets Attack-UV OBJ, binary attack mask, object-position map, and object-normal map 7 vehicles Hash-audited
Protocol records Split manifests, collection plans, preregistrations, audits, and gate decisions N/A Versioned JSON

The Stage 2 images are 1152 x 1152 and contain 144 distinct camera positions per vehicle. The Stage 3 set contains the same 144-view grid for Nissan Patrol 2021 under Town10HD_Opt/ClearNoon. Thirty-two clean views used earlier for Nissan mesh alignment are excluded from the released confirmation evaluation.

Raw snapshot layout

Hub path Files Exact bytes Directory-manifest SHA-256
raw/stage2_town10_v1/ 872 21,787,037,755 4ac82a74b0c9c8b0918b93b911997b12f6401f3cbd4b0c18914125e715faea67
raw/stage3_nissan_patrol_2021_sealed_town10_v1/ 148 3,631,182,409 89844aa31bd9ca1803b29bb2bddc5379dc8e3ad049c6e4448ce81fbc24dc5c3f

Each directory has its own SHA256SUMS. The Stage 2 manifest covers 871 payload files (864 samples and seven JSON records); the Stage 3 manifest covers 147 payload files (144 samples and three JSON records). The checksum file itself is excluded from the corresponding manifest and is anchored by the table above.

The immutable raw-data release is tagged raw-v1-20260803. For example, download only the Stage 2 snapshot with the repository utility:

python tools/huggingface_assets.py download /path/to/release \
  --kind dataset \
  --revision raw-v1-20260803 \
  --allow 'raw/stage2_town10_v1/**'

Record the full commit resolved by the tag in experiment provenance rather than relying on the moving main branch.

Sample format

Each sample is a NumPy object array with seven ordered fields:

  1. image
  2. background
  3. mask
  4. discrepancy
  5. labels
  6. camera_position
  7. metadata

Loading requires numpy.load(path, allow_pickle=True) because the record contains heterogeneous arrays and a metadata dictionary. Only load files from a trusted release revision and verify SHA256SUMS first.

Split semantics

  • Toyota is the validation vehicle used for checkpoint selection.
  • Lincoln is training-unseen but has been queried during method development, so it is a development holdout rather than a sealed final test.
  • Nissan is the frozen negative confirmation vehicle and must not be used to tune architectures, objectives, checkpoints, views, or seeds.
  • A future positive method requires a different, newly reserved confirmation vehicle.

Integrity

The accepted Stage 2 sample aggregate SHA-256 is a1e355159dc4425159d47bc3a88941e60877ca22bd6e8071942873725fd3c04c. Its split manifest SHA-256 is aa358e04bca98ed64dc18a72c41fa9bbcc1af0b1a9cd4483b816dae162275090. The Stage 3 Nissan sample aggregate SHA-256 is 81fa63944b61bc44e28c412331d42507d2db774319db9e1372bd0772f56be3aa; its sealed manifest SHA-256 is 05f30d781d083fc49ea1bbe7dfe861204f28911cecd31ba747e980e07e5db748.

These aggregate values use the project audit procedure recorded in the included provenance files. The two directory-level SHA256SUMS files additionally verify every payload file in the raw snapshots.

Limitations and responsible use

This is synthetic CARLA data from a limited map, weather, detector, and camera protocol. It does not establish physical-world effectiveness or safety. The released checkpoint did not produce a material attack effect on the sealed Nissan vehicle, and no held-out detector evaluation was run after that gate failed. Do not use this dataset to claim broad vehicle, detector, weather, map, or physical transfer without new evidence.

The release is for defensive research, benchmarking, and reproducibility. Users are responsible for complying with applicable laws and deployment policies.

License and attribution

The dataset and project-generated annotations are released under CC BY 4.0. The scenes and vehicle assets are derived from CARLA 0.9.15. CARLA-specific assets are distributed by the CARLA project under CC BY; this release modifies them by exporting geometry, constructing attack UVs, rasterizing masks, and computing object-space position/normal maps. Cite and attribute the CARLA project when using these materials: https://github.com/carla-simulator/carla

The license does not cover unrelated third-party detector or foundation-model weights, which are intentionally excluded.