README.md

---
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  You must agree to the NVIDIA Autonomous Vehicle Dataset License Agreement to
  access this dataset.
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  ### NVIDIA Autonomous Vehicle Dataset License Agreement

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extra_gated_button_content: I accept the terms of the NVIDIA Autonomous Vehicle Dataset License Agreement
license: other
license_name: nvidia-av-dataset
license_link: >-
  https://huggingface.co/datasets/nvidia/PhysicalAI-Autonomous-Vehicles/blob/main/LICENSE.pdf
viewer: false
---

# PhysicalAI Autonomous Vehicles - NCore

A subset of ~1.1k clips from the [PhysicalAI-Autonomous-Vehicles](https://huggingface.co/datasets/nvidia/PhysicalAI-Autonomous-Vehicles) (PAI-AV)
dataset, converted to [NCore](https://github.com/NVIDIA/ncore) format
using the [PAI data converter](https://github.com/NVIDIA/ncore/tree/main/tools/data_converter/pai).
The subset contains clips that expose accurate offline calibration,
egomotion, and cuboid labels.

## Source Dataset

[PhysicalAI-Autonomous-Vehicles](https://huggingface.co/datasets/nvidia/PhysicalAI-Autonomous-Vehicles)
contains 306,152 clips (1,700 hours) of multi-sensor driving data
collected across 25 countries. See the source dataset card for full details
on geographic coverage, sensor specifications, and data schemas.

## Contents

Each clip in this repository contains a NCore V4 dataset:

- **Camera sensors**
- **Lidar sensor**
- **Offline calibration** - offline estimated camera and lidar intrinsics,
  sensor extrinsics, camera sensor masks, as well as windshield model
  parameters if available
- **Offline Egomotion** - offline estimated ego vehicle pose
- **Cuboid labels** - offline estimated 3D bounding boxes

Per-clip file structure:

    clips/<clip_uuid>/
    ├── pai_<clip_uuid>.json
    ├── pai_<clip_uuid>.ncore4.zarr.itar
    ├── pai_<clip_uuid>.ncore4-camera_cross_left_120fov.zarr.itar
    ├── pai_<clip_uuid>.ncore4-camera_cross_right_120fov.zarr.itar
    ├── pai_<clip_uuid>.ncore4-camera_front_tele_30fov.zarr.itar
    ├── pai_<clip_uuid>.ncore4-camera_front_wide_120fov.zarr.itar
    ├── pai_<clip_uuid>.ncore4-camera_rear_left_70fov.zarr.itar
    ├── pai_<clip_uuid>.ncore4-camera_rear_right_70fov.zarr.itar
    ├── pai_<clip_uuid>.ncore4-camera_rear_tele_30fov.zarr.itar
    └── pai_<clip_uuid>.ncore4-lidar_top_360fov.zarr.itar

## License / Terms of Use

[NVIDIA Autonomous Vehicle Dataset License Agreement](https://huggingface.co/datasets/nvidia/PhysicalAI-Autonomous-Vehicles/blob/main/LICENSE.pdf)

## Dataset Owner(s)

NVIDIA Corporation

## Dataset Creation Date

03/06/2026

## Intended Usage

This dataset can be used for **autonomous vehicle related use cases only** which can be both **commercial or non-commercial**
as long as the mentioned license terms are abided by. The size and diversity of this multi-sensor dataset makes it
great for research on end-to-end driving, neural reconstruction, synthetic data generation, scenario mining, and many
other autonomous vehicle applications.

## Dataset Characterization

- Data Collection Method
  - Automatic/Sensor

- Labeling Method
  - Automatic/Sensor

## References

- [PhysicalAI-Autonomous-Vehicles](https://huggingface.co/datasets/nvidia/PhysicalAI-Autonomous-Vehicles) - Source dataset
- [NCore](https://github.com/NVIDIA/ncore) - NCore project
- [PAI data converter](https://github.com/NVIDIA/ncore/tree/main/tools/data_converter/pai) - Tool used to convert from the source format to NCore