| --- |
| pretty_name: OOD-PerceptionBench asset pack |
| license: other |
| license_name: mixed-cc-by-4.0-and-cc-by-nc-4.0 |
| license_link: https://github.com/farrosalferro/OODPerceptionBench/blob/master/assets/ATTRIBUTION.md |
| tags: |
| - carla |
| - autonomous-driving |
| - out-of-distribution |
| - benchmark |
| - 3d-assets |
| - simulation |
| --- |
| |
| # 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 six of the benchmark's eighteen OOD props.** The other twelve are not |
| redistributable (marketplace licences that forbid standalone redistribution and AI use; |
| two free downloads whose uploaders did not own the underlying IP). 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 237 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 | |
| | `walker.pedestrian.boar` | pedestrian | geometric | AnimalMesh 3D | 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 four walkers cannot register without it. Full licence text and links: |
| `ATTRIBUTION.md`. Why the factory has to ship, and what it costs: `WALKERFACTORY_DECISION.md`. |
|
|
| ``` |
| ood-perceptionbench-props-v0.9.tar.gz 15.8 MB CC BY 4.0 |
| ood-perceptionbench-walkers-ccby-v0.9.tar.gz 38.4 MB CC BY 4.0 (includes WalkerFactory) |
| ood-perceptionbench-walkers-ccbync-v0.9.tar.gz 112.3 MB CC BY-NC 4.0 |
| -------- |
| 166.6 MB download · 185.5 MB installed · 195 files |
| ``` |
|
|
| --- |
|
|
| ## 2. Install |
|
|
| Requires an official **CARLA 0.9.15** Linux build. Full instructions, including uninstall |
| and a `tar` pitfall that can silently skip the factory, are in `INSTALL.md`. |
|
|
| ```bash |
| cd /path/to/CARLA_0.9.15 |
| sha256sum -c SHA256SUMS |
| 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 | **126** | 162 | 36 routes need `soldier` / `wheelchair` | |
| | vehicle | **81** | 243 | 162 routes need 6 non-redistributable vehicles | |
| | **total** | **237** | **475** | 238 | |
|
|
| 145 of the 237 are the benchmark's `base`-level routes, which use native CARLA blueprints |
| and need no pack at all. This pack unlocks the other 92 shift-level routes: 18 each for |
| astronaut, firefighter, boar and deliveryrobot, 10 each for concreteroadbarrier and |
| roadclosedbarricade. |
|
|
| The 238 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. Phantom blueprint IDs |
|
|
| After installing, the blueprint library will advertise nine walker IDs whose content is not |
| in this pack: `soldier`, `wheelchair`, `ball`, `caneman`, `cow`, `crutcheswoman`, `deer`, |
| `labrador`, `tire`. They come from the shipped `WalkerFactory`, which was cooked from a |
| build containing more assets than are redistributable. |
|
|
| All nine are **unspawnable** — `try_spawn_actor` returns `None` and `spawn_actor` raises. |
| They cannot silently give you the wrong prop, but they are not usable. `verify_pack.py` |
| asserts that none of them spawns. Details and the reasoning: `WALKERFACTORY_DECISION.md`. |
|
|
| --- |
|
|
| ## 6. Files in this repository |
|
|
| ``` |
| README.md this file |
| INSTALL.md install, verify, uninstall, rebuild |
| ATTRIBUTION.md per-asset authors, licences, source links |
| WALKERFACTORY_DECISION.md why WalkerFactory ships and what it costs |
| 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 six 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. |
|
|
