Add dataset card, link to paper and code

README.md

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+---
+task_categories:
+- robotics
+---
+
+# MVAdapt Dataset
+
+This repository contains the dataset for the paper [MVAdapt: Zero-Shot Multi-Vehicle Adaptation for End-to-End Autonomous Driving](https://huggingface.co/papers/2604.11854).
+
+The official code is available at [GitHub - hae-sung-oh/MVAdapt](https://github.com/hae-sung-oh/MVAdapt).
+
+## Dataset Summary
+
+MVAdapt is a physics-conditioned adaptation framework for multi-vehicle end-to-end (E2E) autonomous driving. This dataset provides the training and evaluation data collected from the CARLA simulator (version 0.9.12) to enable models to generalize across a wide range of vehicles by conditioning driving policies on explicit physical parameters.
+
+## Data Annotations
+
+As described in the official repository, the dataset includes the following annotations:
+
+- `vehicle_id`: Vehicle model ids
+- `gt_waypoint`: Ground truth waypoint for vehicle model
+- `bs_waypoint`: Predicted waypoint from baseline model for default vehicle model
+- `gt_control`: Ground truth control for vehicle model
+- `bs_control`: Predicted control from baseline model for default vehicle model
+- `scene_features`: Features that extracted by backbone model (TransFuser)
+- `physics_params`: Physical properties for vehicle model
+- `gear_params`: Gear properties for vehicle model
+- `rgb`: RGB image 
+- `lidar_bev`: LiDAR BEV image
+- `target_point`: Target heading point
+- `ego_vel`: Speed for ego vehicle
+- `command`: Command for ego vehicle
+
+## Included Vehicles
+
+The dataset contains data for various vehicles in the CARLA simulator:
+
+```
+0 vehicle.lincoln.mkz_2017
+1 vehicle.audi.a2
+2 vehicle.audi.etron
+3 vehicle.audi.tt
+4 vehicle.bh.crossbike
+5 vehicle.bmw.grandtourer
+6 vehicle.carlamotors.carlacola
+7 vehicle.carlamotors.firetruck
+8 vehicle.chevrolet.impala
+9 vehicle.citroen.c3
+10 vehicle.diamondback.century
+11 vehicle.dodge.charger_2020
+12 vehicle.dodge.charger_police
+13 vehicle.dodge.charger_police_2020
+14 vehicle.ford.ambulance
+15 vehicle.ford.mustang
+16 vehicle.gazelle.omafiets
+17 vehicle.harley-davidson.low_rider
+18 vehicle.jeep.wrangler_rubicon
+19 vehicle.kawasaki.ninja
+20 vehicle.lincoln.mkz_2020
+21 vehicle.mercedes.coupe
+22 vehicle.mercedes.coupe_2020
+23 vehicle.mercedes.sprinter
+24 vehicle.micro.microlino
+25 vehicle.mini.cooper_s
+26 vehicle.mini.cooper_s_2021
+27 vehicle.nissan.micra
+28 vehicle.nissan.patrol
+29 vehicle.nissan.patrol_2021
+30 vehicle.seat.leon
+31 vehicle.tesla.cybertruck
+32 vehicle.tesla.model3
+33 vehicle.toyota.prius
+34 vehicle.vespa.zx125
+35 vehicle.volkswagen.t2
+36 vehicle.yamaha.yzf
+```
+
+## Citation
+
+```bibtex
+@misc{oh2026mvadaptzeroshotmultivehicleadaptation,
+      title={MVAdapt: Zero-Shot Multi-Vehicle Adaptation for End-to-End Autonomous Driving}, 
+      author={Haesung Oh and Jaeheung Park},
+      year={2026},
+      eprint={2604.11854},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2604.11854}, 
+}
+```