The dataset viewer is not available for this subset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 80, in _split_generators
raise ValueError(
...<2 lines>...
)
ValueError: The TAR archives of the dataset should be in WebDataset format, but the files in the archive don't share the same prefix or the same types.
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 68, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
OOD-PerceptionBench — asset pack v0.9
Cooked CARLA 0.9.15 assets for OOD-PerceptionBench, a closed-loop driving benchmark that separates visual (appearance) out-of-distribution shift from geometric (shape/size) shift.
Code, routes, baseline records and documentation:
https://github.com/farrosalferro/OODPerceptionBench (branch master).
This repository holds only the binary assets, which are too large for GitHub.
Version stamp: asset pack v0.9, corresponding to arXiv v1 of the paper. v1.0 will add replacement assets for the props that cannot be redistributed today, and the numbers it produces will not be interchangeable with v0.9 numbers. Always record which pack version you used.
⚠ Read this before you use it
This pack contains five of the benchmark's eighteen OOD props. The other thirteen are not redistributable (marketplace licences that forbid standalone redistribution and AI use; two free downloads whose uploaders did not own the underlying IP; one free download whose creator limits it to personal use). They are specified dimensionally instead, and the repository ships classifier notebooks so you can check your own substitutes against the same admissibility rule the paper uses.
With this pack you can run 219 of the 475 routes. See §4.
One asset is NonCommercial. walker.pedestrian.firefighter is CC BY-NC 4.0. It is
packaged separately so you can leave it out. See §3.
A missing CARLA asset fails silently. If a blueprint ID is not registered, the
benchmark harness substitutes a different actor and the route finishes with a plausible
Driving Score. Run tools/verify_pack.py after installing. This is not optional advice.
1. Contents
| Blueprint ID | Category | Shift level | Author | Licence |
|---|---|---|---|---|
walker.pedestrian.astronaut |
pedestrian | visual | Antropik | CC BY 4.0 |
walker.pedestrian.firefighter |
pedestrian | visual | KIFIR | ⚠ CC BY-NC 4.0 |
walker.pedestrian.deliveryrobot |
pedestrian | geometric | Bento (@gostbento) | CC BY 4.0 |
static.prop.concreteroadbarrier |
static | geometric | widthRider | CC BY 4.0 |
static.prop.roadclosedbarricade |
static | geometric | exiS7-Gs | CC BY 4.0 |
Plus one modified CARLA base-content asset, WalkerFactory (CC BY, © CARLA Simulator
authors) — the three walkers cannot register without it. It registers only the shipped
walkers and CARLA's native ones. Full licence text and links: ATTRIBUTION.md.
ood-perceptionbench-props-v0.9.tar.gz 15.8 MB CC BY 4.0
ood-perceptionbench-walkers-ccby-v0.9.tar.gz 32.4 MB CC BY 4.0 (includes WalkerFactory)
ood-perceptionbench-walkers-ccbync-v0.9.tar.gz 112.3 MB CC BY-NC 4.0
--------
160.5 MB download · 175.6 MB installed · 162 files
2. Install
Requires an official CARLA 0.9.15 Linux build, with AdditionalMaps_0.9.15. Full instructions, including uninstall
and a tar pitfall that can silently skip the factory, are in INSTALL.md.
cd /path/to/CARLA_0.9.15
sha256sum -c /path/to/OODPerceptionBench/assets/SHA256SUMS # the copy in the code repository
mkdir -p Import && cp ood-perceptionbench-*-v0.9.tar.gz Import/
./ImportAssets.sh
# then, with a CARLA server running:
python3 tools/verify_pack.py --port 2000
ImportAssets.sh is CARLA's own installer; the tarballs are rooted at CarlaUE4/ so they
extract straight into the build.
The pack overwrites CarlaUE4/Content/Carla/Blueprints/Walkers/WalkerFactory.{uasset,uexp}.
Install into a copy of CARLA dedicated to this benchmark, and only over 0.9.15.
3. The NonCommercial asset
walker.pedestrian.firefighter, by KIFIR, is CC BY-NC 4.0: no commercial use of
the model, of derivatives, of rendered frames, or of datasets built from them.
It lives in its own tarball. If your use is commercial, do not install
ood-perceptionbench-walkers-ccbync-v0.9.tar.gz and run the verifier with
--without-nc. Everything else in the pack is CC BY 4.0. The cost of omitting it is 18
pedestrian routes.
There is no IP defect here — it is the author's original work — and it is deliberately not being replaced.
4. Route coverage
| Category | Runnable with this pack | Total | Gap |
|---|---|---|---|
| static | 30 | 70 | 40 routes need 4 non-redistributable props |
| pedestrian | 108 | 162 | 54 routes need soldier / wheelchair / boar |
| vehicle | 81 | 243 | 162 routes need 6 non-redistributable vehicles |
| total | 219 | 475 | 256 |
145 of the 219 are the benchmark's base-level routes, which use native CARLA blueprints
and need no pack at all. This pack unlocks the other 74 shift-level routes: 18 each for
astronaut, firefighter and deliveryrobot, 10 each for concreteroadbarrier and
roadclosedbarricade.
The 256 remaining routes are not runnable at v0.9. Running them anyway yields substituted-actor results that look normal and mean nothing.
Per-route baseline records for the full 475 across 17 models are published in the code repository — verifying the paper's claims needs no GPU and no assets.
5. If you downloaded the pack before 2026-10-05
Earlier copies also contained walker.pedestrian.boar. Its listing is labelled CC BY 4.0, but
its creator's description says that free version is for personal use only, so it is no longer
distributed. Download ood-perceptionbench-walkers-ccby-v0.9.tar.gz again and reinstall it:
its WalkerFactory is newer than the old one, so it replaces it. Then delete
CarlaUE4/Content/Boar. verify_pack.py fails on walker.pedestrian.boar until the new
factory is in place.
6. Files in this repository
README.md this file
INSTALL.md install, verify, uninstall, rebuild
ATTRIBUTION.md per-asset authors, licences, source links
SHA256SUMS checksums of the three tarballs
MANIFEST.tsv every shipped file: path, sha256, size, asset, licence
dist/ the three tarballs
tools/verify_pack.py post-install verification (run it)
tools/goldens.json reference bounding boxes for the five assets
build/build_asset_pack.sh reproduces this pack from a CARLA build
build/make_manifest.py emits SHA256SUMS and MANIFEST.tsv
build/EXCLUSIONS.tsv files present in the source build and deliberately not shipped
7. Citation
Cite the OOD-PerceptionBench paper (see CITATION.cff in the code repository), credit
CARLA for the simulator content, and reproduce the per-asset attribution in
ATTRIBUTION.md — CC BY 4.0 requires it.
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