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 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

# 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
• Companion datasets: luuuulinnnn/OOD17_longtail_usdz, luuuulinnnn/OOD64-NuRec-USDZ-with-ground