---
license: apache-2.0
pretty_name: VehicleArena Road Networks
---
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](https://github.com/OpenMOSS/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](#-download) · [Install](#-installation) · [Benchmark context](#-benchmark-context) · [Citation](#-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](https://huggingface.co/datasets/OpenMOSS-Team/VehicleArena/resolve/main/vehiclearena-road-networks-2026.09.22.0.tar.gz?download=true) |
| 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:
```bash
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](https://github.com/OpenMOSS/VehicleArena#-quick-start). From the code repository root, install the downloaded archive and check the environment:
```bash
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](https://github.com/OpenMOSS/VehicleArena/blob/main/vehiclearena/simulation/MAPS.md) 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](https://github.com/OpenMOSS/VehicleArena), 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](https://arxiv.org/abs/2609.35916):
```bibtex
@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}
}
```
