| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - autonomous-driving |
| - nurec |
| - closed-loop-eval |
| - alpasim |
| - alpamayo |
| size_categories: |
| - n<1K |
| --- |
| |
| # Nurec_eval — NRE Closed-Loop Eval Set with HD Map |
| |
| **59 OOD-longtail scenes** for AlpaSim closed-loop evaluation, exported from NVIDIA NRE 26.02 and **augmented with HD-map artifacts** (lane graph, road boundaries, crosswalks) so models can be evaluated with full map context — not just geometry. |
| |
| ## What's inside each `pai_<uuid>.usdz` |
|
|
| | File | Purpose | |
| |---|---| |
| | `default.usda` | USDZ entry point | |
| | `checkpoint.ckpt` | Neural reconstruction (NRE-26.02 gsplat) weights | |
| | `parsed_config.yaml` | NRE training config | |
| | `data_info.json` | Sequence metadata | |
| | `datasource_summary.json` | Camera/lidar rig info | |
| | `mesh.ply` / `mesh.usd` | Poisson reconstructed scene mesh | |
| | `ground_mesh.ply` | Ground mesh (used for offroad / collision_with_ground) | |
| | `rig_trajectories.json` / `.usda` | Recorded ego trajectory (route source) | |
| | `sequence_tracks.json` / `.usda` | Other actors' recorded trajectories | |
| | **`map_data/cf_crosswalks.parquet`** | **HD-map: crosswalk polygons** | |
| | **`map_data/cf_lane_topology_node.parquet`** | **HD-map: lane topology** | |
| | **`map_data/cf_road_boundary.parquet`** | **HD-map: road boundaries** | |
| | **`map_data/dw_lane.parquet`** | **HD-map: drivable lanes** | |
| | **`map_data/lane_chunk.parquet`** | **HD-map: lane geometry** | |
| | **`map_data/lane_rail.parquet`** | **HD-map: lane center rails** | |
| |
| The 6 `map_data/*.parquet` files were injected via [inject_map.py](https://huggingface.co/datasets/luuuulinnnn/Nurec_eval/blob/main/inject_map.py) using NRE-internal HD-map data. |
| |
| ## Scene composition — 59 scenes from 8 OOD-longtail buckets |
| |
| | Category | Scenes | |
| |---|---:| |
| | Animals / Birds / Roadkill | 7 | |
| | Complex Intersection Interaction | 7 | |
| | Cyclists & Micromobility Complex | 8 | |
| | Emergency Incident Scene | 7 | |
| | Pedestrian Density / Close Proximity | 8 | |
| | Road Debris / Safety Traces | 5 | |
| | Special / Uncommon Vehicle Behavior | 8 | |
| | Work Zones / Temp Traffic Control | 8 | |
| | ⚠️ Broken (route folds back) | 1 | |
| | **Total usable** | **58 × 2 rollouts = 116** | |
|
|
| ## Usage with AlpaSim |
|
|
| ```bash |
| # Mount this dataset in the AlpaSim wizard |
| alpasim_wizard \ |
| deploy=local topology=1gpu driver=<your_model> \ |
| +physics=disabled +vehicle=custom \ |
| scenes.path=/path/to/Nurec_eval \ |
| scenes.scenes_csv=/path/to/Nurec_eval/sim_scenes.csv \ |
| scenes.suites_csv=/path/to/Nurec_eval/sim_suites.csv \ |
| ... |
| ``` |
|
|
| Note: `physics=disabled` is still required because these are recon-only USDZs (no vehicle-physics config). The HD map is consumed by driver models for lane-aware decision making and by metrics like `wrong_lane` / `offroad-by-lane`. |
|
|
| ## What was missing before |
|
|
| Without `map_data/*.parquet`, driver models had **no map context** during closed-loop sim, and lane-aware metrics (`wrong_lane`) couldn't be computed. This dataset adds them back. |
|
|
| ## Source |
|
|
| - Scenes exported from NRE 26.02 (`26.2.158-2b8da993`) |
| - Re-packed with HD map artifacts from `ood_closeloop_map` (79 scenes available, 59 used here) |
| - Compatible with [NVlabs/alpasim](https://github.com/NVlabs/alpasim) |
| - Companion datasets: [luuuulinnnn/OOD17_longtail_usdz](https://huggingface.co/datasets/luuuulinnnn/OOD17_longtail_usdz), [luuuulinnnn/OOD64-NuRec-USDZ-with-ground](https://huggingface.co/datasets/luuuulinnnn/OOD64-NuRec-USDZ-with-ground) |
|
|
