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.gitattributes

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README.md

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+---
+license: mit
+task_categories:
+  - robotics
+  - image-to-text
+tags:
+  - autonomous-driving
+  - carla
+  - simlingo
+  - behavioral-cloning
+size_categories:
+  - 100K<n<1M
+---
+
+# SimLingo CARLA Dataset (Raw, 4Hz)
+
+Raw driving data from CARLA simulator. No transformations or derived fields - all original measurements preserved as-is.
+
+## Dataset Summary
+
+- **Source**: [SimLingo](https://huggingface.co/datasets/RenzKa/simlingo) (CVPR 2025)
+- **Scale**: 228,757 frames (23 shards)
+- **Frame Rate**: 4 FPS
+- **Resolution**: 1024x512 RGB
+- **Routes**: Complete driving episodes (routes never split across shards)
+
+## Column Schema
+
+### Core Fields
+| Column | Type | Description |
+|--------|------|-------------|
+| `route_id` | string | Route identifier |
+| `frame_idx` | int32 | Frame index within route |
+| `image` | bytes | Original JPEG image bytes |
+
+### Control Signals (Raw)
+| Column | Type | Description |
+|--------|------|-------------|
+| `steer` | float32 | Steering [-1, 1] |
+| `throttle` | float32 | Throttle [0, 1] |
+| `brake` | bool | Brake applied |
+
+### Vehicle State
+| Column | Type | Description |
+|--------|------|-------------|
+| `speed` | float32 | Current speed (m/s) |
+| `target_speed` | float32 | Target speed |
+| `speed_limit` | float32 | Speed limit |
+| `theta` | float32 | Heading angle |
+| `angle` | float32 | Angle to target |
+
+### Navigation
+| Column | Type | Description |
+|--------|------|-------------|
+| `command` | int32 | Navigation command |
+| `next_command` | int32 | Next navigation command |
+| `pos_global` | string (JSON) | Global position [x, y] |
+| `target_point` | string (JSON) | Target point |
+| `target_point_next` | string (JSON) | Next target point |
+| `aim_wp` | string (JSON) | Aim waypoint |
+| `route` | string (JSON) | Planned route waypoints |
+| `route_original` | string (JSON) | Original route waypoints |
+| `changed_route` | bool | Route was changed |
+
+### Hazards & Environment
+| Column | Type | Description |
+|--------|------|-------------|
+| `junction` | bool | In junction |
+| `vehicle_hazard` | bool | Vehicle hazard detected |
+| `vehicle_affecting_id` | int32 | ID of affecting vehicle |
+| `walker_hazard` | bool | Pedestrian hazard |
+| `walker_affecting_id` | int32 | ID of affecting pedestrian |
+| `light_hazard` | bool | Traffic light hazard |
+| `stop_sign_hazard` | bool | Stop sign hazard |
+| `stop_sign_close` | bool | Stop sign nearby |
+| `walker_close` | bool | Pedestrian nearby |
+| `walker_close_id` | int32 | ID of nearby pedestrian |
+| `speed_reduced_by_obj_type` | string | Object type causing speed reduction |
+| `speed_reduced_by_obj_id` | int32 | Object ID causing speed reduction |
+| `speed_reduced_by_obj_distance` | float32 | Distance to speed-reducing object |
+| `control_brake` | bool | Control brake applied |
+
+### Augmentation (from SimLingo)
+| Column | Type | Description |
+|--------|------|-------------|
+| `augmentation_translation` | float32 | Translation augmentation |
+| `augmentation_rotation` | float32 | Rotation augmentation |
+
+### Transforms
+| Column | Type | Description |
+|--------|------|-------------|
+| `ego_matrix` | string (JSON) | 4x4 ego vehicle transform matrix |
+| `boxes` | string (JSON) | 3D bounding boxes for all objects |
+
+### Commentary (Optional)
+| Column | Type | Description |
+|--------|------|-------------|
+| `commentary` | string | Natural language commentary |
+| `commentary_data` | string (JSON) | Full commentary object with metadata |
+
+## Usage
+
+```python
+from datasets import load_dataset
+import json
+
+ds = load_dataset("TESS-Computer/carla-simlingo-raw", split="train")
+
+sample = ds[0]
+print(sample['route_id'])
+print(sample['steer'], sample['throttle'], sample['brake'])
+print(sample['speed'])
+
+# Parse JSON fields
+pos = json.loads(sample['pos_global'])
+boxes = json.loads(sample['boxes']) if sample['boxes'] else []
+```
+
+## Data Collection
+
+- **Simulator**: CARLA 0.9.15 (Leaderboard 2.0)
+- **Expert**: PDM-Lite (rule-based, 100% route completion)
+- **Scenarios**: Single-scenario routes with random weather
+- **Towns**: Towns 1-13
+
+## Citation
+
+```bibtex
+@inproceedings{renz2025simlingo,
+  title={SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment},
+  author={Renz, Katrin and Chen, Long and Arani, Elahe and Sinavski, Oleg},
+  booktitle={CVPR},
+  year={2025},
+}
+```
+
+## License
+
+MIT (dataset processing code). Original data subject to [SimLingo](https://huggingface.co/datasets/RenzKa/simlingo) and [CARLA](https://carla.org/) licenses.

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