| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - autonomous-driving |
| - world-model |
| - tanitad |
| - ego-driving |
| - camera |
| - webdataset |
| size_categories: |
| - n<1K |
| extra_gated_prompt: >- |
| TanitDataSet-R is the research tier of TanitDataSet. This public mirror carries |
| ONLY the redistributable (ship-tier) subset of R — today that subset is 100% |
| comma2k19 (MIT), byte-identical to TanitDataSet-C. Non-commercial records, if |
| and when they are ingested, are internal-only and will never appear here. |
| Access is request-gated so the maintainer can see who is using it and notify |
| consumers of corrections; the gate is an access log, NOT an additional license |
| restriction — your rights are the upstream ones. |
| extra_gated_fields: |
| Name: text |
| Affiliation: text |
| Intended use: text |
| --- |
| |
| # TanitDataSet-R — the research tier (public redistributable mirror) |
|
|
| > # ⚠️ Read this first |
| > |
| > **This repo is currently byte-identical to [TanitDataSet-C](https://huggingface.co/datasets/Sayood/TanitDataSet-C).** |
| > |
| > **R contributes ZERO additional records today.** Same 90 episodes, same 14 |
| > shards, same `sha256`s, same 72/18 split, same single source (`comma2k19`, MIT). |
| > `R = C ∪ NC` is the *design*; today `NC = ∅` on the build box, because **no |
| > non-commercial source is downloaded or adapted yet**. |
| > |
| > **If you already have TanitDataSet-C, downloading this repo gains you nothing.** |
| > It exists so the research tier has a stable, correctly-scoped home to grow into — |
| > not because it currently holds more data. |
|
|
| --- |
|
|
| ## What R is *designed* to be, and what it *is* |
|
|
| | | designed | **as of this release (MEASURED)** | |
| |---|---|---| |
| | definition | `R = C ∪ NC` — one build, one schema, per-record `tier` stamp | ✅ machinery live | |
| | records | C's permissive records **+** non-commercial corpora | **90 — all of them C's** | |
| | NC records | nuScenes, BDD100K, A2D2, Argoverse 2, KITTI-360, ONCE, DRAMA, Rank2Tell | **0** — registered, none downloaded, no adapters | |
| | NC value-add over C | maximum scene diversity, HD maps, semantic layers | **0 records, 0 GB, 0 %** | |
| | redistribution | C-subset ✅ · NC-subset ❌ never | this mirror is **100 % C-subset** | |
|
|
| ### What this public mirror will and will not ever contain |
|
|
| `TanitDataSet-R` as an *internal* view may hold non-commercial records. **This |
| public repo carries only the redistributable subset of that view** — the export is |
| guarded by a hard scope assertion (`allowed_classes={"owned-safe"}`, |
| `require_commercial_ok=True`, `forbid_share_alike=True`) that refuses egress if a |
| single row falls outside it. |
|
|
| So the honest statement of what this repo is: |
|
|
| > **`Sayood/TanitDataSet-R` = the ship-tier subset of R.** |
| > Today the ship-tier subset *is* all of R, which *is* C. |
| > When non-commercial records land internally, **they do not land here** — this |
| > mirror stays the ship-tier subset, and the gap between this repo and internal R |
| > becomes real rather than zero. |
|
|
| Never re-push R wholesale. The guard enforces this in code; this note records |
| *why* the guard exists. |
|
|
| --- |
|
|
| ## Contents (identical to TanitDataSet-C) |
|
|
| | | | |
| |---|---| |
| | **Episodes** | **90** (train 72 · val 18) | |
| | **Sources** | `comma2k19` (MIT) × 90 — **100 %** | |
| | **License classes present** | `owned-safe` × 90 | |
| | **Non-commercial (`nc-research`) rows** | **0** | |
| | **Gated / `refuse` / share-alike rows** | **0 / 0 / 0** | |
| | **Shards** | 14 tar (11 train + 3 val) | |
| | **Total size** | 15.93 GB | |
| | **Frame format** | `uint8 [T, 9, 256, 256]` | |
|
|
| ### Record schema |
|
|
| - **`frames`** — `uint8 [T, 9, 256, 256]` — 3-frame RGB stack (9 = 3×RGB), |
| canonicalized to `f_eff ≈ 266 px`. |
| - **`actions`** — `f32 [T, 2]` — `(steer, accel)`. |
| - **`poses`** — `f32 [T, 4]` — `(x, y, yaw, v)`. |
| - per-episode metadata incl. `sha256` of the frame blob and `build_params_hash`. |
|
|
| Shard layout, tar member convention, Parquet catalog and the loading snippet are |
| identical to TanitDataSet-C — see [its card](https://huggingface.co/datasets/Sayood/TanitDataSet-C) |
| for the full description and the `tarfile` / `pyarrow` examples. |
|
|
| --- |
|
|
| ## Provenance & verification |
|
|
| Verified **2026-07-25** over the actual payload bytes: **14/14 shards**, |
| **90 episodes**, **90/90 `sha256` re-verified** against the recorded frame-blob |
| digests, 0 duplicate ids, 0 train/val id overlap, 0 split/path mismatches, |
| catalog ↔ payload bijection exact. Distinct source corpora in the payload: |
| `{comma2k19: 90}` — **nothing else**. Machine-readable in |
| `LICENSE_VERIFICATION.json`. |
|
|
| --- |
|
|
| ## Honest limits |
|
|
| Everything in [TanitDataSet-C's honest-limits section](https://huggingface.co/datasets/Sayood/TanitDataSet-C#honest-limits--read-this-before-you-plan-around-it) |
| applies verbatim, because this is the same data. In particular: |
|
|
| 1. **R adds nothing to C today** — 0 non-commercial records. The headline above is |
| the single most important fact about this repo. |
| 2. **90 episodes is seed-scale**, one source, US highway, forward camera only. |
| No urban, intersection, VRU, night or adverse-weather coverage. |
| 3. **L2D contributed 0 records** — no LeRobot-v3 → 9-channel adapter exists yet |
| (~2–3 engineering days). |
| 4. **PhysicalAI-AV is excluded and always will be**, from *both* tiers. It is |
| `gated-confidential` — NVIDIA-gated, not redistributable, firewalled and |
| recipe-only. The ingestor raises `PermissionError` on it, so it cannot become a |
| record on any tier, research included. Nothing here is derived from it. |
| 5. **Waymo Open / WOD-E2E and Waymax are refused outright** — a distinct `refuse` |
| license class, worse than non-commercial, because their terms follow the |
| trained weights into the model and vehicle operation. They never enter the lake |
| on *any* tier, research included. |
| 6. **Split is episode-level, not route-disjoint**; comma2k19 is one commute route |
| re-driven, so train and val can share road segments. |
| 7. **No semantic / VLM labels** in this release — frames, actions, poses and |
| provenance only. |
| 8. **Anonymization is inherited, not re-applied** — upstream comma2k19 MIT |
| footage, nothing added. |
|
|
| --- |
|
|
| ## Which repo should I use? |
|
|
| | you want | use | |
| |---|---| |
| | commercially-clean data you may ship | **[TanitDataSet-C](https://huggingface.co/datasets/Sayood/TanitDataSet-C)** | |
| | maximum research diversity | **C, for now** — R has nothing extra yet | |
| | to track the research tier as it grows | watch this repo | |
|
|
| ## Citation / attribution |
|
|
| Cite the upstream source; per-source license text ships in `NOTICE`. |
|
|
| ```bibtex |
| @article{schafer2018commute, |
| title = {A Commute in Data: The comma2k19 Dataset}, |
| author = {Schafer, Harald and Santana, Eder and Haden, Andrew and Biasini, Riccardo}, |
| journal= {arXiv preprint arXiv:1812.05752}, |
| year = {2018} |
| } |
| ``` |
|
|
| _Built by the TanitAD Phase-A lake pipeline. Provenance travels with the data._ |
|
|
