VehicleArena: A Realistic Urban Environment for Multi-Agent Driving
Paper • 2609.35916 • Published • 1
Datasets:
ArXiv:
License:
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 85, in _split_generators
pa.Table.from_pylist(cast_to_python_objects([example], only_1d_for_numpy=True))
~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "pyarrow/table.pxi", line 2044, in pyarrow.lib._Tabular.from_pylist
File "pyarrow/table.pxi", line 6401, in pyarrow.lib._from_pylist
return cls.from_arrays(arrays, names, metadata=metadata)
File "pyarrow/table.pxi", line 4868, in pyarrow.lib.Table.from_arrays
converted_arrays = _sanitize_arrays(arrays, names, schema, metadata,
File "pyarrow/table.pxi", line 1611, in pyarrow.lib._sanitize_arrays
converted_arrays = _schema_from_arrays(arrays, names, metadata,
File "pyarrow/table.pxi", line 1592, in pyarrow.lib._schema_from_arrays
val = array(val)
File "pyarrow/array.pxi", line 400, in pyarrow.lib.array
File "pyarrow/array.pxi", line 46, in pyarrow.lib._sequence_to_array
chunked = GetResultValue(
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
return check_status(status)
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: cannot mix list and non-list, non-null values
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 68, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
VehicleArena Road Networks
Offline map assets for VehicleArena's 3D urban-driving benchmark
English project README · 中文项目说明
This repository contains the versioned road-network bundle used by VehicleArena. The simulator, benchmark scenarios, evaluation code, and map installer live in the GitHub repository; the large offline maps are distributed here.
Start here: Download · Install · Benchmark context · Citation
🌟 Highlights
- 116 road-network maps: the archive contains 116 base road networks and their 116 lane-level counterparts, for 232 map JSON files in total.
- Versioned and verifiable: the archive follows CalVer
YYYY.MM.DD.PATCH; the VehicleArena installer checks its SHA-256 and the individual map files against the code repository's manifest. - Maps, not trajectories: task definitions and evaluation software are maintained on GitHub, so the same map bundle can be used with the published tasks or new scenarios.
📦 Download
| Item | Value |
|---|---|
| Version | 2026.09.22.0 |
| Archive | vehiclearena-road-networks-2026.09.22.0.tar.gz |
| Contents | 116 base + 116 lane-level networks (232 JSON files) |
| Size | 117,275,038 bytes |
| SHA-256 | 79e9b642db23c37373697b5431dd615846c57b7c9b7e2c520c64d4ed3d608f75 |
The archive can also be downloaded with the Hugging Face CLI:
hf download OpenMOSS-Team/VehicleArena \
vehiclearena-road-networks-2026.09.22.0.tar.gz \
--repo-type dataset --local-dir /path/to/downloads
🚀 Installation
First set up the VehicleArena code and dependencies. From the code repository root, install the downloaded archive and check the environment:
python scripts/manage_map_bundle.py install \
--source /path/to/downloads/vehiclearena-road-networks-2026.09.22.0.tar.gz
python scripts/check_environment.py
The check reports "ready": true when Python, SUMO, and the maps are available. See the map installation guide for the archive layout and checksum validation.
📊 Benchmark context
The published VehicleArena benchmark has 100 training/development tasks and 112 held-out evaluation tasks: 80 Basic and 32 MultiLLM. Those tasks, their manifests, and the evaluation code are in GitHub, not in this map archive. The published time limits were calibrated using this map version; changing road data or task definitions requires recalibrating affected scenarios. Reusing the same archive with another evaluated model does not.
📎 Citation
If you use these maps with VehicleArena, please cite the paper:
@article{yang2026vehiclearena,
title={VehicleArena: A Realistic Urban Environment for Multi-Agent Driving},
author={Yang, Jie and Chen, Jiajun and Zhou, Jiazheng and Huang, Mianqiu and Zheng, Yining and Wang, Yuxin and Qiu, Xipeng},
journal={arXiv preprint arXiv:2609.35916},
year={2026}
}
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