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End of preview. Expand in Data Studio
YAML Metadata Warning:empty or missing yaml metadata in repo card
Check out the documentation for more information.
Bench2Drive → DVGT-format dataset (for DVGT2 world_decoder training)
CARLA Bench2Drive (base-1000 routes) converted into the DVGT parquet + image + depth layout that
dvgt.datasets.scene_dataset.DVGTSceneDataset consumes. Produced by
tools/convert_bench2drive_to_dvgt.py (6-camera rig, CARLA ~10 Hz subsampled to 2 Hz).
Coordinate convention validated with xval_bench2drive/validate_b2d_coords.py.
Total ≈ 61 GB (image ≈ 40 GB, align_depth ≈ 21 GB), 1000 scenes, 299,652 rows
(≈ 50 frames/scene × 6 cams). Only image + align_depth are used at train time (no pred_depth /
proj_depth needed).
Contents
bench2drive_dvgt_data.tar.part00 … part0N— the image + depth payload, packed as one tar split into 10 GB parts (HF caps single files; parts also enable parallel/resumable download). Each part is a byte-chunk of a single tar (NOT individually extractable). Reassemble withcat, see below. On extraction they rebuildimage/bench2drive/<scene>/<cam>/<frame>.jpg(6 cams) andalign_depth/bench2drive/<scene>/<cam>/<frame>.png(metric depth, log-PNG viatools/data_process/utils/io.write_depth).bench2drive.parquet— per-(scene, frame, camera) metadata:filename,intrinsics(3x3),extrinsics(world→cam, OpenCV/RDF, 3x4),ego_to_world(RDF, 3x4),ego_velocity(2, RDF right/forward),ego_acceleration(2),driving_command(6-way one-hot). ego_status = vel(2) + acc(2) + command(6) = 10 dims (ego_status_dim: 10).bench2drive_train.parquet/bench2drive_val.parquet— held-out train/val split (882 / 118 scenes; val = 11.8%, stratified across all 43 scenario types). Both reference the same image/depth payload (only metadata rows are split). Mirrors UniDriveVLA's open-loop train/val hold-out; the shipped train config uses these and evaluates val every epoch.val_scenes.txt— the 118 held-out val route names (reproducible split).
How to use
# 1. download the repo (e.g. huggingface-cli download yiren-lu/bench2drive-dvgt --repo-type dataset
# --local-dir bench2drive-dvgt), then reconstruct the dataset tree:
mkdir -p bench2drive_dvgt && cd bench2drive_dvgt
cp ../bench2drive-dvgt/*.parquet ../bench2drive-dvgt/val_scenes.txt .
cat ../bench2drive-dvgt/bench2drive_dvgt_data.tar.part* | tar xf - # -> image/ + align_depth/
# 2. point the training config's storage paths at it (override these keys):
# data_conf.{train,val}.common_dataset_config.storage_image_path=<dir>/bench2drive_dvgt/image
# data_conf.{train,val}.common_dataset_config.storage_align_depth_path=<dir>/bench2drive_dvgt/align_depth
# data_conf.{train,val}.common_dataset_config.storage_proj_depth_path=<dir>/bench2drive_dvgt/align_depth
# data_conf.train.dataset_config[0].parquet_path=<dir>/bench2drive_dvgt/bench2drive_train.parquet
# data_conf.val.dataset_config[0].parquet_path=<dir>/bench2drive_dvgt/bench2drive_val.parquet
Train config: configs/train/dvgt2/world_decoder_dethead_b1_geomego_bench2drive.yaml. Warm-start
ckpt/dvgt2.pt; backbone ckpt/dinov3/dinov3_vitl16_pretrain_lvd1689m-8aa4cbdd.pth — obtain those
separately (model weights, not part of this dataset).
Raw source: Bench2Drive base-1000 (rethinklab/Bench2Drive on HuggingFace); re-derive with
tools/convert_bench2drive_to_dvgt.py if you prefer converting yourself.
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