--- 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:** (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.