| # Attribution and licences — OOD-PerceptionBench asset pack v0.9 |
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|
| 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. |
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|
| **Version stamp:** asset pack v0.9 ↔ arXiv v1 of the OOD-PerceptionBench paper. |
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| --- |
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|
| ## 1. The six 3D assets |
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|
| | Blueprint ID | Author | Licence | Source | Tarball | |
| |---|---|---|---|---| |
| | `walker.pedestrian.astronaut` | **Antropik** | [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) | [Sketchfab](https://sketchfab.com/3d-models/astronaut-482bf87662fd4b378bcb3a2931d59ca3) | `walkers-ccby` | |
| | `walker.pedestrian.deliveryrobot` | **Bento** (`@gostbento`) | [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) | [Sketchfab](https://sketchfab.com/3d-models/delivery-robot-4dbac67355174751801fb1f6e8dc6230) | `walkers-ccby` | |
| | `walker.pedestrian.boar` | **AnimalMesh 3D** | [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) | [Sketchfab](https://sketchfab.com/3d-models/animated-realistic-boar-3d-animal-model-f672a7fd93e84997b80a54ba30956111) | `walkers-ccby` | |
| | `static.prop.concreteroadbarrier` | **widthRider** | [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) | [Sketchfab](https://sketchfab.com/3d-models/concrete-road-barrier-photoscanned-a09622c043724a1b92e7920b22edb6bf) | `props` | |
| | `static.prop.roadclosedbarricade` | **exiS7-Gs** | [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) | [Sketchfab](https://sketchfab.com/3d-models/road-closed-sign-0b8e907e8508406e8560a7adf495d1de) | `props` | |
| | `walker.pedestrian.firefighter` | **KIFIR** | ⚠ **[CC BY-NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/)** | [Sketchfab](https://sketchfab.com/3d-models/firefighter-tip-b-c62321ea381245f59145efff91c439f4) | `walkers-ccbync` | |
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| ### ⚠ The firefighter is NonCommercial |
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| `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. |
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|
| 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. |
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|
| 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 |
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|
| `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](https://github.com/carla-simulator/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`. |
|
|
| --- |
|
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| ## 3. How to cite / credit |
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| 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. |
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|
| Minimal inline form: |
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| > 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 |
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|
| 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. |
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|
| Reasons, in brief: |
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| - **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. |
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| The full audit, one row per asset, is `ASSETS.tsv` in the code repository. |
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