Attribution and licences — OOD-PerceptionBench asset pack v0.9
This pack is mixed-licence. Read the table before redistributing or building on it. Attribution is required for every asset here; one of them is additionally restricted to non-commercial use.
Version stamp: asset pack v0.9 ↔ arXiv v1 of the OOD-PerceptionBench paper.
1. The six 3D assets
| Blueprint ID | Author | Licence | Source | Tarball |
|---|---|---|---|---|
walker.pedestrian.astronaut |
Antropik | CC BY 4.0 | Sketchfab | walkers-ccby |
walker.pedestrian.deliveryrobot |
Bento (@gostbento) |
CC BY 4.0 | Sketchfab | walkers-ccby |
walker.pedestrian.boar |
AnimalMesh 3D | CC BY 4.0 | Sketchfab | walkers-ccby |
static.prop.concreteroadbarrier |
widthRider | CC BY 4.0 | Sketchfab | props |
static.prop.roadclosedbarricade |
exiS7-Gs | CC BY 4.0 | Sketchfab | props |
walker.pedestrian.firefighter |
KIFIR | ⚠ CC BY-NC 4.0 | Sketchfab | walkers-ccbync |
⚠ The firefighter is NonCommercial
walker.pedestrian.firefighter, by KIFIR, is licensed CC BY-NC 4.0. You may not use
it — or any derivative, including rendered frames and any dataset built from them — for
commercial purposes. It is isolated in its own tarball
(ood-perceptionbench-walkers-ccbync-v0.9.tar.gz) precisely so that it can be left out.
If your use is commercial, do not install that tarball, and run the verifier with
--without-nc. The rest of the pack is CC BY 4.0 and unaffected. The cost of leaving it
out is 18 pedestrian routes (*_firefighter.xml), which then cannot be run.
There is no IP problem with this asset — it is KIFIR's own original work — and it is deliberately not being replaced. Bench2Drive, the lineage this benchmark sits in, is itself CC BY-NC-ND, so an NC component is consistent here.
2. CARLA base content
ood-perceptionbench-walkers-ccby-v0.9.tar.gz also contains one modified CARLA base-content
asset:
CarlaUE4/Content/Carla/Blueprints/Walkers/WalkerFactory.uasset
CarlaUE4/Content/Carla/Blueprints/Walkers/WalkerFactory.uexp
Derived from CARLA 0.9.15. CARLA's own README
states: "CARLA specific code is distributed under MIT License. CARLA specific assets are
distributed under CC-BY License." This file is therefore CC BY, © the CARLA Simulator
authors, modified by the OOD-PerceptionBench authors to register the walker blueprints
above. It overwrites the corresponding file in your CARLA installation — see
INSTALL.md and WALKERFACTORY_DECISION.md.
3. How to cite / credit
If you publish work using this pack, reproduce the attribution table in §1 (author name +
licence + link, per CC BY §3(a)), credit CARLA for the base content, and cite the
OOD-PerceptionBench paper. A CITATION.cff ships with the code repository.
Minimal inline form:
3D assets: astronaut © Antropik, delivery robot © Bento (@gostbento), boar © AnimalMesh 3D, concrete road barrier © widthRider, road-closed barricade © exiS7-Gs — all CC BY 4.0; firefighter © KIFIR — CC BY-NC 4.0. Simulator content © CARLA Simulator authors, CC BY.
4. The twelve assets that are not here
Twelve of the eighteen OOD props used in the paper are not redistributable and are
specified dimensionally instead — the Appendix tables give their measurements, and the
classifier notebooks (classifier/{static,pedestrian,vehicle}_dimension_checker.ipynb in
the code repository) let you check any substitute you source yourself against the same
visual/geometric admissibility rule the paper uses.
Reasons, in brief:
- Nine marketplace assets (Fab) carry a Standard Licence that forbids standalone redistribution and an "Allows usage with AI: No" tag. Both would have to be waived.
- One (CGTrader) is Royalty-Free with both redistribution and AI-use restrictions.
- Two free downloads were tagged CC-BY by uploaders who did not own the underlying IP. They are not licensable by anyone and are being replaced.
The full audit, one row per asset, is ASSETS.tsv in the code repository.