| --- |
| pretty_name: ETS2 Truck Self-Driving Dataset |
| license: other |
| task_categories: |
| - robotics |
| - reinforcement-learning |
| tags: |
| - autonomous-driving |
| - self-driving |
| - imitation-learning |
| - behavioral-cloning |
| - euro-truck-simulator-2 |
| - ets2 |
| - driving |
| - telemetry |
| - webdataset |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: ets2-train-*.tar |
| - split: val |
| path: ets2-val-*.tar |
| --- |
| |
| # ETS2 Truck Self-Driving Dataset |
|
|
| Synchronized screen-capture video and vehicle telemetry recorded from human |
| driving in **Euro Truck Simulator 2 (ETS2)**, packaged for end-to-end driving |
| (imitation learning / behavioral cloning). Each frame pairs a 1080p game |
| screenshot with the full SCS telemetry snapshot taken at the same instant — the |
| control signals (steering, throttle, brake) and vehicle state needed to learn or |
| evaluate a driving policy. |
|
|
| If you want to load a single recording locally, jump to [Usage](#usage). If you |
| want to understand what each field means, see [Telemetry fields](#telemetry-fields). |
|
|
| ## At a glance |
|
|
| - **Modalities:** RGB video + per-frame structured telemetry |
| - **Frame rate:** 10 FPS, video and telemetry aligned 1:1 |
| - **Frame size:** 1920×1080 (H.264, `yuv420p`) |
| - **Format:** [WebDataset](https://github.com/webdataset/webdataset) — `.tar` |
| shards of ~1 GB each |
| - **Splits:** `train`, `val` |
|
|
| ## Dataset structure |
|
|
| The dataset is a set of WebDataset shards named `ets2-{split}-{index}.tar` |
| (e.g. `ets2-train-000000.tar`). Each shard is a plain tar of complete recording |
| **sessions**. A session is one continuous driving clip (15–90 s) stored as three |
| members that share a basename (the WebDataset *key*); the extension names the |
| field: |
|
|
| | Member | Contents | |
| | --------------- | --------------------------------------------------------------------------------------------------------------- | |
| | `{key}.mp4` | H.264 video, 1920×1080, 10 FPS | |
| | `{key}.bin.zst` | zstd-compressed raw telemetry: a fixed **32 KiB** SCS shared-memory block per frame, concatenated in frame order | |
| | `{key}.json` | session meta needed to interpret the telemetry (see [Session meta](#session-meta)) | |
|
|
| The telemetry bin is the only compressed member. After zstd decompression it is |
| `32768 × N` bytes for an `N`-frame video; frame `i` corresponds to bytes |
| `[i*32768 : (i+1)*32768]`, the verbatim SCS plugin shared memory at that frame. |
|
|
| ### Telemetry fields |
|
|
| Fields are decoded from the 32 KiB block by byte offset. The block is stored |
| verbatim, so it carries the entire SCS shared-memory layout; the fields below |
| are the ones already wired up for driving. Angles follow the SCS convention of |
| **turns** (1 turn = 360°). |
|
|
| | Field | Type | Meaning | |
| | ---------------------------------------------------------------------------------- | ----- | -------------------------------------------------------------- | |
| | `game_steer` | float | Effective steering, `[-1, 1]` | |
| | `game_throttle` | float | Effective throttle, `[0, 1]` | |
| | `game_brake` | float | Effective brake, `[0, 1]` | |
| | `speed` | float | Truck speed in m/s (negative when reversing) | |
| | `cruise_control_speed` | float | Cruise-control set speed in m/s (0 when off) | |
| | `angular_velocity_y` | float | Yaw rate around truck-Y in turns/s | |
| | `cabin_aa_z` | float | Cabin angular acceleration around truck-Z in turns/s² | |
| | `coordinate_x` / `coordinate_y` / `coordinate_z` | float | World position (ETS2 left-handed frame) | |
| | `rotation_x` / `rotation_y` / `rotation_z` | float | Heading / pitch / roll in turns (heading 0 = north) | |
| | `time_ms` | int | Simulation time in ms; **stops** while the game is paused | |
| | `simulated_time_ms` | int | Simulation time in ms; **keeps advancing** while paused | |
| | `sdk_active` / `paused` / `on_job` / `attached` | bool | SDK active, game paused, delivery job active, trailer attached | |
| | `wear_engine` / `wear_transmission` / `wear_cabin` / `wear_chassis` / `wear_wheels` | float | Component wear, `[0, 1]` | |
| | `cargo_damage` | float | Current cargo damage, `[0, 1]` | |
| | `route_distance` | float | Remaining planned route distance in m | |
| | `planned_distance_km` | int | Initial route length in km (constant for the trip) | |
| | `job_income` | int | Job payment in EUR (constant for the trip) | |
| | `plugin_revid` / `sdk_version_major` / `sdk_version_minor` | int | Telemetry plugin / SDK versions | |
|
|
| For driving you typically use the screenshot plus `speed` and pose as inputs and |
| `game_steer` / `game_throttle` / `game_brake` as labels. |
|
|
| ### Session meta |
|
|
| `{key}.json` is a small object describing how to read the telemetry bin: |
|
|
| | Key | Meaning | |
| | ----------------------------------------- | ------------------------------------------------------- | |
| | `plugin_revid` | Telemetry plugin revision (struct layout version) | |
| | `sdk_version_major` / `sdk_version_minor` | SCS SDK version | |
| | `hfov_deg` | Camera horizontal field of view in degrees (default 71) | |
|
|
| ## Data collection |
|
|
| Sessions are captured from a live ETS2 window, not reconstructed offline: |
|
|
| - **Sampling:** the game window is screen-captured at 10 Hz. Accepted window |
| sizes are 1920×1080, 2560×1440, and 3840×2160; every frame is normalized to |
| 1920×1080. Each screenshot is paired with the SCS telemetry snapshot read at |
| the same tick. |
| - **Event-driven recording.** Frames are buffered with a few seconds of |
| look-ahead, and a clip is only kept around interesting moments rather than |
| recording idle time. Two triggers are active: |
| - *moving* — fires while the truck moves faster than 0.3 m/s, keeping a |
| `[-3 s, +1 s]` window around each moving frame; |
| - *collision* — fires when total component wear jumps between frames |
| (a likely impact), keeping a wider `[-3 s, +12 s]` window. |
| - **Clip length.** Kept sessions are 15–90 s; shorter candidate clips are |
| discarded and longer runs are split. |
| |
| ## Usage |
|
|
| ### Stream shards directly |
|
|
| WebDataset shards stream without downloading the whole dataset. The telemetry |
| member needs zstd decompression, then slicing into 32 KiB per-frame blocks: |
|
|
| ```python |
| import webdataset as wds |
| import zstandard as zstd |
| |
| REPO = "<your-username>/<dataset-repo>" # replace with the dataset repo id |
| BASE = f"https://huggingface.co/datasets/{REPO}/resolve/main" |
| url = f"{BASE}/ets2-train-{{000000..000006}}.tar" # adjust to the shard range |
| |
| FRAME_BYTES = 32 * 1024 |
| |
| for sample in wds.WebDataset(url): |
| meta = sample["json"] # bytes — session meta |
| video = sample["mp4"] # bytes — H.264 clip |
| raw = zstd.ZstdDecompressor().decompress(sample["bin.zst"]) |
| n_frames = len(raw) // FRAME_BYTES |
| # frame i telemetry: raw[i*FRAME_BYTES : (i+1)*FRAME_BYTES] |
| ``` |
|
|
| ### Decode with the recorder toolkit |
|
|
| This dataset is produced by the `ets2-dataset` tooling in this repository, which |
| can also read sessions back. Unpack a shard (plain `tar -xf`) and open any |
| session by pointing at one of its members: |
|
|
| ```python |
| from ets2_dataset.data.session import Session |
| |
| with Session("session_20260101_120000_123456.mp4") as session: |
| print(len(session), "frames", session.fps, "fps", session.duration, "s") |
| for frame in session: |
| image = frame.image # [H, W, 3] BGR uint8 |
| t = frame.telemetry |
| steer, throttle, brake = t.game_steer, t.game_throttle, t.game_brake |
| ``` |
|
|
| `Session` decodes the video and telemetry together and yields frames in |
| recording order, with `telemetry` exposing the fields above as attributes. |
|
|
| ## License and attribution |
|
|
| The video frames are screenshots of **Euro Truck Simulator 2**, whose game |
| content is © SCS Software. This dataset is intended for non-commercial research |
| and is distributed under that constraint; using it does not grant any rights to |
| the underlying game assets. Set the `license` field in the metadata above to the |
| terms you intend to release the recorded telemetry and annotations under before |
| publishing. |
|
|
