Duplicate from Yuan-avs/munich2drive_edgar

.gitattributes

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+*.bin filter=lfs diff=lfs merge=lfs -text
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+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
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+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

README.md

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+---
+dataset_info:
+  features:
+  - name: mp4
+    dtype: video
+  - name: clip_id
+    dtype: string
+  - name: scenario_id
+    dtype: int64
+  - name: ego_id
+    dtype: int64
+  - name: version
+    dtype: string
+  - name: map
+    dtype: string
+  - name: weather
+    dtype: string
+  - name: sun_altitude_deg
+    dtype: float64
+  - name: precipitation
+    dtype: float64
+  - name: wetness
+    dtype: float64
+  - name: night
+    dtype: bool
+  - name: n_agents
+    dtype: int64
+  - name: agents_by_type
+    struct:
+    - name: CAR
+      dtype: int64
+    - name: TRUCK
+      dtype: int64
+    - name: BUS
+      dtype: int64
+    - name: BICYCLE
+      dtype: int64
+    - name: MOTORCYCLE
+      dtype: int64
+  - name: horizon_steps
+    dtype: int64
+  - name: dt_s
+    dtype: float64
+  - name: audit_clean
+    dtype: bool
+  - name: max_pose_error_m
+    dtype: float64
+  - name: max_height_dev_m
+    dtype: float64
+  - name: ground_layer_corrections
+    dtype: int64
+  - name: actors_inherited
+    dtype: int64
+  - name: actors_surviving_cleanup
+    dtype: int64
+  - name: ego_blueprint
+    dtype: string
+  - name: ego_collision_events
+    dtype: int64
+  - name: ego_collisions
+    list:
+    - name: time_step
+      dtype: int64
+    - name: other
+      dtype: string
+    - name: other_id
+      dtype: int64
+    - name: impulse
+      dtype: float64
+  - name: trajectory
+    struct:
+    - name: t
+      list: int64
+    - name: x
+      list: float64
+    - name: y
+      list: float64
+    - name: carla_x
+      list: float64
+    - name: carla_y
+      list: float64
+    - name: yaw
+      list: float64
+    - name: v
+      list: float64
+    - name: a
+      list: float64
+    - name: yaw_rate
+      list: float64
+  - name: n_states
+    dtype: int64
+  - name: path_length_m
+    dtype: float64
+  - name: speed_mps
+    struct:
+    - name: mean
+      dtype: float64
+    - name: max
+      dtype: float64
+  - name: ego_length_m
+    dtype: float64
+  - name: ego_width_m
+    dtype: float64
+  - name: trajectory_source
+    dtype: string
+  splits:
+  - name: train
+    num_bytes: 5764456891
+    num_examples: 494
+  download_size: 5764694887
+  dataset_size: 5764456891
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/train-*
+license: other
+license_name: upstream-assets-see-acknowledgements
+pretty_name: munich2drive_edgar
+task_categories:
+- video-classification
+tags:
+- autonomous-driving
+- trajectory-prediction
+- motion-planning
+- carla
+- commonroad
+- sumo
+- surround-view
+- digital-twin
+- munich
+size_categories:
+- n<1K
+---
+
+# munich2drive_edgar
+
+Surround-camera driving clips from a **real Munich HD map** built by
+[SimForge](https://simforge.ai/), each paired with the **ego vehicle's full trajectory**. Every clip is a nine-panel video -- six surround cameras at
+the ego's real sensor extrinsics, a chase view, a bird's-eye view, and the frame-locked
+CommonRoad ground truth -- so what the model sees and what the data says are visible side
+by side.
+
+The ego is rendered with the **real EDGAR mesh** -- TUM's VW T7 Multivan digital
+twin -- rather than the stand-in van used in
+[munich2drive](https://huggingface.co/datasets/Yuan-avs/munich2drive). Same 50 base
+scenarios, same trajectories, same camera extrinsics; what changes is that the
+vehicle you see in the chase and bird's-eye views is the vehicle the footprint has
+always described.
+
+- **494 clips** over 50 base scenarios (494 sumo_edgar)
+- 60,463 agent-replays, 79-161 agents per clip
+- 12 weather / time-of-day conditions, 0 at night
+- ego paths 10.64-232.85 m (median 108.88 m)
+
+## Camera provenance
+
+The six surround-camera extrinsics (`front`, `front_left`, `front_right`, `back`,
+`back_left`, `back_right`) are EDGAR's real Basler short-range rig, read from
+`edgar.description.states.urdf` in
+[TUM-AVS/edgar_digital_twin](https://github.com/TUM-AVS/edgar_digital_twin) and
+converted from the URDF's ROS convention into CARLA's frame -- the poses hang off
+`rear_axle_center`, so `CARLA x = urdf_x - 0.009`, `y = -urdf_y`,
+`z = urdf_z + 0.338`, with the yaw and pitch handedness flipped. They are **not**
+derived from the bounding box, and must not be rescaled to one.
+
+EDGAR's long-range forward stereo pair is not rendered: it has no counterpart in a
+6-view surround layout. The `chase` and `bird` panels are visualisation only and do
+**not** correspond to sensors on the vehicle -- they are derived from the actor's
+bounding box. The `commonroad` panel is ground truth, not a camera.
+
+## Each row
+
+| field | |
+|---|---|
+| `mp4` | the 3x3 grid clip (1920x1080, 10 fps, 120 frames) |
+| `json` | everything below, as one record |
+| `trajectory` | parallel arrays: `t`, `x`, `y`, `carla_x`, `carla_y`, `yaw`, `v`, `a`, `yaw_rate` |
+| `path_length_m`, `speed_mps` | trajectory summary |
+| `weather`, `sun_altitude_deg`, `precipitation`, `wetness`, `night` | conditions |
+| `n_agents`, `agents_by_type` | surrounding traffic |
+| `ego_collision_events`, `ego_collisions` | ego collision-sensor events with impulses |
+| `audit_clean`, `max_pose_error_m`, `max_height_dev_m` | per-clip verification, below |
+
+`x`/`y` are the CommonRoad map frame -- the frame the CommonRoad panel of the video is
+drawn in. `carla_x`/`carla_y` are the same states in the CARLA world frame, via the
+verified transform (`carla_x = lx`, `carla_y = -ly` after reprojecting EPSG:3857 to the
+map's local transverse-Mercator frame; `crdesigner` emits 3857, which is ~1.5x
+scale-distorted at 48N, so this conversion is not optional).
+
+The trajectory is given in world coordinates; ego-relative future waypoints follow from
+the state at any `t` by the usual rigid transform.
+
+## Verification
+
+Rendering audits each clip against its scenario file at 14 time steps and ships the
+result, so these are measurements, not claims:
+
+- `audit_clean`: **494 / 494**
+- agent pose error vs CommonRoad: median **0.006 m**, p99 0.376 m, max 1.161 m
+- height deviation: median 0.05 m, p99 0.322 m, max 0.383 m
+- clips rendered with actors inherited from a previous run: **0**; with actors surviving cleanup: **0**
+- clips with at least one ego collision event: 0
+
+## Known limitations
+
+- Traffic is replayed kinematically from recorded SUMO trajectories and does **not** react
+  to the ego. No clip in this set records an ego collision event, but the absence is a
+  property of these particular replays, not evidence that the traffic would yield.
+- Where SUMO placed two footprints overlapping, the render shows them interpenetrating.
+- The ego mesh is the EDGAR digital twin as cooked for CARLA; it is hosted on the
+  `vehicle.lincoln.mkz_2017` blueprint id, which is cosmetic -- what spawns is
+  EDGAR (bbox 4.962 x 2.233 x 2.089 m, TUM livery).
+- 500 clips were rendered; the 6 whose ego left the ground at a single audit step are
+  withheld, so every clip published here passes. Those 6 failed on height deviation
+  only -- pose error was unaffected, which is why the pose figures above are the same
+  as for the full 500 while the height tail is not.
+- All clips are daytime; unlike `munich2drive` this set contains no night renders.
+
+## Acknowledgements
+
+Munich HD map from [SimForge](https://simforge.ai/); ego vehicle and motion planner from
+[TUM-AVS](https://github.com/TUM-AVS) (EDGAR digital twin, Frenetix); built on
+[CARLA](https://carla.org), [CommonRoad](https://commonroad.in.tum.de) and
+[SUMO](https://eclipse.dev/sumo/). The EDGAR digital twin
+([TUM-AVS/edgar_digital_twin](https://github.com/TUM-AVS/edgar_digital_twin)) is
+**LGPL-3.0**; its attribution and licence text travel with the cooked asset and with
+these renders of it. Observe the upstream licences of the HD map, simulator assets
+and vehicle models.

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