Add complete 2 Hz BEVLayout data

Add train/validation BEVLayout archives, manifests, checksums, package documentation, and download instructions. Arrays are 2 Hz nuScenes keyframe-derived layouts for non-commercial research use.

README.md

@@ -51,3 +51,19 @@ hf download JimmyLiaoo/LO-World --include "nus_infos/*.pkl" --local-dir data
 The resulting paths are `data/nus_infos/nuscenes_infos_train.pkl` and
 `data/nus_infos/nuscenes_infos_val.pkl`. Original nuScenes sensor data and
 Occ3D occupancy labels must be downloaded separately.
+
+## BEVLayout conditioning data
+
+The complete 2 Hz train/validation BEVLayout arrays used by the Layout-conditioned models are available under [`data/bev_layout/`](data/bev_layout/). The package contains 34,149 binary `uint8` arrays of shape `(18, 200, 200)`: 28,130 train and 6,019 validation samples. It is approximately 22.9 GiB uncompressed and 77 MiB as split Zstandard archives.
+
+Download the package into the LO-World code repository and extract the arrays to `data/bev_layout/`:
+
+```bash
+hf download JimmyLiaoo/LO-World --include "data/bev_layout/**" --local-dir .
+mkdir -p data/bev_layout
+tar --zstd -xf data/bev_layout/2hz/train.tar.zst -C data/bev_layout
+tar --zstd -xf data/bev_layout/2hz/val.tar.zst -C data/bev_layout
+(cd data/bev_layout && sha256sum -c SHA256SUMS)
+```
+
+These are 2 Hz keyframe layouts, not dense 12 Hz frames. The arrays are derived from nuScenes and are for non-commercial research use subject to the [nuScenes terms](https://www.nuscenes.org/terms-of-use). See the [package card](data/bev_layout/README.md) for format, split manifests, checksums, source terms, and citation.

data/bev_layout/2hz/train.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f709841e937d19ebfec06e038ec1ae28e9bbe86ea574697e21e18d2732c3d3aa
+size 65049880

data/bev_layout/2hz/val.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f86eec98cfd3856847731420d18b8664258b856fc90e8ed968ce1b6245b0745
+size 14111124

data/bev_layout/README.md

@@ -0,0 +1,51 @@
+---
+task_categories:
+  - autonomous-driving
+  - computer-vision
+language:
+  - en
+pretty_name: LO-World nuScenes BEVLayout (2 Hz)
+size_categories:
+  - 10K<n<100K
+---
+
+# LO-World nuScenes BEVLayout (2 Hz)
+
+This dataset contains the complete 2 Hz train/validation BEVLayout arrays used by LO-World. It contains 34,149 per-sample NumPy files: 28,130 train and 6,019 validation samples. Each file is named `<sample_token>.npy` and stores a binary `uint8` array with shape `(18, 200, 200)` (720,128 bytes uncompressed).
+
+## Layout on the Hub
+
+```text
+2hz/train.tar.zst  # flat <sample_token>.npy files
+2hz/val.tar.zst    # flat <sample_token>.npy files
+manifests/train.jsonl
+manifests/val.jsonl
+SHA256SUMS
+```
+
+Extract both archives into the repository's `data/bev_layout/` directory (for example, `tar --zstd -xf 2hz/train.tar.zst -C data/bev_layout`). LO-World looks up files by nuScenes sample token.
+
+## Coverage and integrity
+
+The files cover all 34,149 nuScenes trainval keyframes: 100% of the 850 official train/validation scenes, with no missing or extra sample tokens. Every array was read and checked for shape, dtype, and binary values. The split manifests record token, scene, timestamp, split, and per-file SHA256. `SHA256SUMS` provides the same file checksums in standard checksum format.
+
+These are **2 Hz keyframe layouts**, not dense 12 Hz layouts. They do not contain the intermediate frames in 12 Hz metadata. The 12 Hz / 81-frame selected-clip condition pack is a separate artifact and is not included here.
+
+## Data origin and terms
+
+These arrays are derived from nuScenes and are provided for non-commercial research use. Users must obtain their own nuScenes access and comply with the current [nuScenes terms of use](https://www.nuscenes.org/terms-of-use) and [dataset information](https://www.nuscenes.org/data-format). This repository does not include nuScenes sensor data or metadata, and does not grant rights to the underlying nuScenes dataset.
+
+Please cite both LO-World and nuScenes. The official nuScenes information page describes the dataset as available strictly for non-commercial purposes. No broader license for nuScenes content is granted by this repository.
+
+## Citation
+
+Please cite both LO-World and nuScenes when using these layouts. nuScenes citation:
+
+```bibtex
+@article{nuscenes2019,
+  title={nuScenes: A multimodal dataset for autonomous driving},
+  author={Caesar, Holger and Bankiti, Varun and Lang, Alex H. and others},
+  journal={arXiv preprint arXiv:1903.11027},
+  year={2019}
+}
+```

data/bev_layout/SHA256SUMS.archives

@@ -0,0 +1,2 @@
+f709841e937d19ebfec06e038ec1ae28e9bbe86ea574697e21e18d2732c3d3aa  2hz/train.tar.zst
+7f86eec98cfd3856847731420d18b8664258b856fc90e8ed968ce1b6245b0745  2hz/val.tar.zst