| --- |
| 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: |
| |
| ```bash |
| 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. |
| |
