| --- |
| pretty_name: CARLA Paired Collision Benchmark — Official 880 Recordings |
| language: |
| - en |
| tags: |
| - carla |
| - event-camera |
| - collision-prediction |
| - paired-data |
| size_categories: |
| - n<1K |
| configs: |
| - config_name: official |
| default: true |
| data_files: |
| - split: train |
| path: viewer/train.parquet |
| - split: validation |
| path: viewer/val.parquet |
| - split: test |
| path: viewer/test.parquet |
| --- |
| |
| # Paired Event-Camera Collision Benchmark |
|
|
| The official experiment cohort contains **880 recordings / 440 matched pairs**. |
| Each pair contains one collision and one near miss, kept in the same split. |
| The supplied split manifests define the fixed evaluation cohort. |
|
|
| | Scenario | Train videos | Val videos | Test videos | Total | |
| |---|---:|---:|---:|---:| |
| | Head-on | 66 | 26 | 26 | 118 | |
| | Close turning | 86 | 24 | 30 | 140 | |
| | Following/braking | 52 | 42 | 44 | 138 | |
| | Pedestrian walking past | 66 | 32 | 32 | 130 | |
| | Pedestrian walking then stopping | 8 | 12 | 12 | 32 | |
| | Unoccluded pedestrian running | 28 | 8 | 6 | 42 | |
| | Stationary car, plain background | 50 | 24 | 26 | 100 | |
| | Stationary car, parked background cars | 36 | 22 | 22 | 80 | |
| | Stationary pedestrian | 48 | 30 | 22 | 100 | |
| | **Total** | **440** | **220** | **220** | **880** | |
|
|
| ## Structure |
|
|
| ```text |
| metadata.jsonl # Complete catalog, one row per recording. |
| splits/{train,val,test}.jsonl # Same rows, separated by split. |
| release_membership.json # IDs used in the original experiments. |
| data/{train,val,test}/PAIR_ID/ |
| pair_config.json # Native generation and crop settings. |
| collision/ # near_miss/ has the same structure. |
| metadata.json # Portable metadata and asset checksums. |
| events.npy # Detector input; unchanged source bytes. |
| capture_metadata.json # Native capture details and trajectories. |
| source_metadata.json # Original metadata, preserved verbatim. |
| trajectory.json # Aligned 400 ego/target poses. |
| review.mp4 # Human preview, not a detector input. |
| ``` |
|
|
| Some stationary-pedestrian previews show both arms in one pair-level `review.mp4`; |
| use `assets.review_video.path` and `preview_shared_between_arms` in the catalog. |
| Metadata uses `split: "validation"` for the `val/` folder. Other fields include |
| scenario, target type, `static`, `dense_traffic`, town/roads, speeds and background. |
| Unknown values remain `null`. [FORMAT.md](FORMAT.md) explains clocks and encoding. |
|
|
| The dataset viewer reads `viewer/{train,val,test}.parquet`, which contains |
| the same 880 catalog rows with a shared column schema. The original JSON |
| catalogs and all recording files remain unchanged. Additional null fields |
| in the viewer only represent metadata absent from a particular source. |
|
|
| ## Download and verify |
|
|
| Open the [anonymous review repository](https://anonymous-hf.com/a/0feb3cbm2voj/). |
| Reviewers can browse and download files without an account or access token. |
| Use the file browser for individual files or **Download All** for the complete |
| release. Extract the download into a folder of your choice, then verify it: |
|
|
| ```bash |
| python -m pip install 'numpy>=1.26,<3' |
| cd /path/to/paired-data |
| python verify_release.py --deep-events |
| ``` |
|
|
| Replace `/path/to/paired-data` with the extracted folder containing |
| `verify_release.py`. Full verification requires the complete release and checks |
| for missing or corrupted files. A partial download cannot pass this check. |
| MP4 files are inspection previews and are not detector inputs. |
|
|
| ## Scope |
|
|
| The split is frozen at **50/25/25**, with 20 explicit background-OOD pairs confined |
| to validation/test. Two generation pipelines contribute 600 and 280 recordings. |
| Selection retained all moving-target pairs and reduced only |
| the stationary subsets. Earlier excluded recordings, occluded-runner trials, |
| original CARLA corpus data and paper-only illustrations are not this cohort. |
|
|
| Capture audits and source qualifications are preserved. In particular, the |
| stationary-pedestrian source still says `manual_review: pending` and |
| `scientific_admission: false`; packaging does not upgrade that status. Integrity |
| checks establish matching files, labels and timing, not freedom from dataset bias. |
| Raw event streams and duplicate dense-frame caches are omitted. A dataset license |
| has not yet been specified. |
|
|
| Keep both outcomes of each pair in the supplied split. Preserve the catalog, |
| capture metadata and checksums when copying the data; do not rebuild the catalog |
| from a partial download. |
|
|
