Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Driving
Paper • 2608.18035 • Published • 1
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The dataset generation failed
Error code: DatasetGenerationError
Exception: TypeError
Message: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1531, in _prepare_split_single
for key, record in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 127, in _generate_examples
for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
for filename, f in tar_iterator:
^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/track.py", line 49, in __iter__
for x in self.generator(*self.args):
~~~~~~~~~~~~~~^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 1405, in _iter_from_urlpath
with xopen(urlpath, "rb", download_config=download_config, block_size=0) as f:
~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 982, in xopen
file_obj = fs.open(paths[0], mode)
File "<string>", line 3, in open
File "/usr/local/lib/python3.14/unittest/mock.py", line 1176, in __call__
return self._mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1180, in _mock_call
return self._execute_mock_call(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/unittest/mock.py", line 1247, in _execute_mock_call
result = effect(*args, **kwargs)
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 786, in wrapped
tracker.files[urlpath] = {"read": 0, "size": int(f.size)}
~~~^^^^^^^^
TypeError: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
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/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1393, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1571, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
json dict | __key__ string | __url__ string |
|---|---|---|
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/031dc00736bd5f9f | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/5b3dd7e048535363 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/c83a7446c0b95ded | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/8921d76ba0b95fc6 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/429207dce2c75f88 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/be925f46037d5f45 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/8fe339ba979e55ac | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/fa87afbb4890504c | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/0097aef7a667561a | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/6c63216c6179517d | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/515bac5001645518 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/a206e97c294d5cf7 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/cb4ab74d23fc57a2 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/a147858158545a5c | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/dbcde627a2155aba | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/e7f96836e6725679 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/cb7d0e0206905bcd | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/e313777779615fae | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/e8b401c4cab6588e | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/99e6e90f79d45e91 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.578685,
"2d_points": [
[
764.938368,
600.375942
],
[
866.923392,
610.6518179999999
]
],
"2d_center": [
815.3993530273438,
605.71142578125
... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ad3cb81ad31a5c46 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/cdf2cf9347ea5b8b | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.557641,
"2d_points": [
[
1162.54848,
633.378312
],
[
1282.89408,
644.667768
]
],
"2d_center": [
1225.72021484375,
640.0394897460938
... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/930d81d18e365bc5 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ef92d45b6ae95dad | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/d45e950d45165fe2 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.580965,
"2d_points": [
[
810.84864,
626.3403569999999
],
[
917.48544,
636.1083629999999
]
],
"2d_center": [
863.9335327148438,
631.4145507... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/5946aa21736c5d59 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/cf198b62a8ff54ae | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/85bc6a0fdfa8521f | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/d367467f3ea35377 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/a9b58c9d4a875bea | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/e14c26602fbb58e0 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/36faf7552b705b1a | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/51f46f3bc0d75439 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 1,
"confidence": 0.278159,
"2d_points": [
[
681.0258815999999,
514.1061900000001
],
[
694.8307584,
542.91573
]
],
"2d_center": [
684.781005859375,
528.256469... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/cc7e8f2fe21d510b | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/49700b0d99845d92 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ce16e7a366fd56d9 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.434378,
"2d_points": [
[
687.1818240000001,
567.299457
],
[
805.733376,
577.198143
]
],
"2d_center": [
744.9334106445312,
572.399841308593... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ff05caafbe2e598b | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/94ddfa3d15fa5382 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/abccb02fbbfd579e | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/3cd5233479385a6c | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/11d1e07447ca5d7e | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/6ff0e5ad654a58c5 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/01b5089ae2035191 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/9bf54213ffea5ac4 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/9d5b13e6910753ab | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.517825,
"2d_points": [
[
767.37072,
620.345817
],
[
872.12496,
630.488583
]
],
"2d_center": [
819.1985473632812,
625.7034301757812
]... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/4ff21c09cb1251d2 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/c6dd15a2bbed5534 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/dc3e507e9c9a5a79 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/c3904a1efada5c2e | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ff1692e0f3a85ff4 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/3e900ae962fc52ce | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ddc0a31f01e959e8 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/374260f103f7563d | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/1c5d17caaeec55bd | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/82cfd95ffe935e6f | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.356288,
"2d_points": [
[
671.467488,
569.1477150000001
],
[
796.111392,
579.635325
]
],
"2d_center": [
731.9760131835938,
574.578430175781... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/dc654c6b30295d5e | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/c458a6245c035a0e | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/b32d8471e17e5ad1 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.478052,
"2d_points": [
[
452.26991999999996,
596.293272
],
[
605.80368,
612.228888
]
],
"2d_center": [
516.13623046875,
605.8623657226562
... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/143dede51c835caa | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/c221581cb1f55310 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ccd12b83d5d75e1d | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/a682e5591b2f55af | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/453d1b07e62a50d7 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/505f38af91355c67 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/9b9b9702edff50fd | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/849721029d9554da | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/76364cc01a445f6c | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/8b06368cd2965bad | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.421263,
"2d_points": [
[
635.631456,
601.481754
],
[
772.7269439999999,
613.552806
]
],
"2d_center": [
701.4533081054688,
608.116027832031... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/a4f670a4afd757dc | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/93237b3f0271598e | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/eb08f397a6445f8f | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/1bb5836eb7765537 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/cf57f67d6f185ea4 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.569596,
"2d_points": [
[
936.9697919999999,
630.861102
],
[
1049.654208,
641.203938
]
],
"2d_center": [
993.3505859375,
636.1348876953125
... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/d4eb54e5b4a556f7 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/26dd5a3a519358b7 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/3cc6775420c953a3 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/a7c411d1d0d45f49 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.54161,
"2d_points": [
[
771.3219839999999,
597.9114089999999
],
[
869.2527359999999,
606.9776309999999
]
],
"2d_center": [
819.8054809570312,
... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/05df85bf1dbd5564 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/5c6fc82f46375cbd | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/679542ee2e755487 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/55b4ec1fa4c9566d | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/aad42f9087465074 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/1bf28f47c6da5e1f | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/fd15419abcbe5f2e | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/0565a8bcd25d5100 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/09483a612fb753f7 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/40bcae69ce525814 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ee08aab4835c5e2f | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/68cb24cce0395215 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/c8b169b0e62a580a | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/76e5073b8c655eee | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/4266bc2d9a56553e | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ba41bbd112345a21 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/c6451c2fe37d56c1 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/16eb319788a458e5 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/fdcf41ccc1195946 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.514551,
"2d_points": [
[
145.441152,
593.9891459999999
],
[
305.601408,
613.1678939999999
]
],
"2d_center": [
156.54759216308594,
608.6350... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/2d83c15ee5af5411 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": [
{
"attribute": 5,
"confidence": 0.385748,
"2d_points": [
[
660.353088,
573.35283
],
[
788.836032,
584.2235700000001
]
],
"2d_center": [
722.5438232421875,
579.0294189453125... | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/f2c54431facc5a63 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/60dcd1455b0051f6 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/a5d8c79c720659b9 | hf://datasets/Zzz0918/Traffic_Elements@40bb7331b777e5ead00ec086d4172d83386a15f5/navsim_traffic_elements.tar.gz |
End of preview.
2D and 3D Traffic Elements for nuScenes, NAVSIM, and SimScale
This repository provides YOLO-format 2D Traffic Element labels and generated 3D Traffic Element center points for the nuScenes, NAVSIM, and SimScale datasets. It also includes the released YOLO checkpoint used for 2D Traffic Element detection. The released NAVSIM driving code is available on GitHub, and this repository now also hosts four evaluation checkpoints: LTF + Ours, DiffusionDrive + Ours, LTF + SimScale + Ours, and DiffusionDrive + SimScale + Ours.
Resources
| Resource | Repository path | Description |
|---|---|---|
| nuScenes Traffic Elements | nuscenes_traffic_elements.tar.gz |
2D labels and 3D center points for nuScenes |
| NAVSIM Traffic Elements | navsim_traffic_elements.tar.gz |
2D labels and 3D center points for NAVSIM |
| SimScale Traffic Elements | simscale_traffic_elements.tar.gz |
2D labels and 3D center points for SimScale |
| YOLO detector checkpoint | weights/yolo/best.pt |
Weights for 2D Traffic Element detection |
Related resources: Paper | Project Page | Code
Download
Download the complete release:
huggingface-cli download Zzz0918/Traffic_Elements \
--repo-type dataset \
--local-dir traffic_elements_release
The complete release includes three dataset archives, the YOLO detector, and all four NAVSIM driving checkpoints. Individual resources can be downloaded using the links above and in the model table below. Run the download command from the code repository root to use the relative paths in the following examples.
Dataset Extraction
Run the following commands from the root of the TE-Aware-E2E-AD repository:
tar -xzf traffic_elements_release/nuscenes_traffic_elements.tar.gz
tar -xzf traffic_elements_release/navsim_traffic_elements.tar.gz
tar -xzf traffic_elements_release/simscale_traffic_elements.tar.gz
The extracted files follow this structure:
data/
|-- nuscenes/
| |-- traffic_elements/
| | `-- <sample_token>.json
| `-- traffic_elements_2d/
| `-- labels/
| `-- <image_name>.txt
|-- navsim/
| |-- traffic_elements/
| | |-- trainval/
| | | `-- <log_name>/
| | | `-- <image_token>.json
| | `-- test/
| | `-- <log_name>/
| | `-- <image_token>.json
| `-- traffic_elements_2d/
| |-- trainval/
| | `-- <log_name>/
| | `-- labels/
| | `-- <image_token>.txt
| `-- test/
| `-- <log_name>/
| `-- labels/
| `-- <image_token>.txt
`-- simscale/
|-- traffic_elements/
| `-- <split>/
| `-- <scene_name>/
| `-- <image_token>.json
`-- traffic_elements_2d/
`-- <split>/
`-- <scene_name>/
`-- labels/
`-- <image_token>.txt
YOLO Detector Weights
The released detector checkpoint is stored at weights/yolo/best.pt. Copy it to the location expected by the inference scripts:
mkdir -p ultralytics/weights
cp traffic_elements_release/weights/yolo/best.pt ultralytics/weights/best.pt
Alternatively, download the checkpoint directly:
mkdir -p ultralytics/weights
curl -L "https://huggingface.co/datasets/Zzz0918/Traffic_Elements/resolve/main/weights/yolo/best.pt?download=true" \
-o ultralytics/weights/best.pt
The resulting code-repository path should be:
TE-Aware-E2E-AD/
`-- ultralytics/
`-- weights/
`-- best.pt
NAVSIM Driving Model Checkpoints
The following evaluation checkpoints accompany the released NAVSIM driving code. Each model includes the traffic-element integration (Ours); the SimScale variants additionally use the SimScale training pipeline.
| Model | Hydra agent config | Checkpoint on Hugging Face |
|---|---|---|
| LTF + Ours | ltf_te_agent |
weights/ltf_te_agent/ltf_te.ckpt |
| DiffusionDrive + Ours | diffusiondrive_te_agent |
weights/diffusiondrive_te_agent/diffusiondrive_te.ckpt |
| LTF + SimScale + Ours | ltf_te_simscale_agent |
weights/ltf_te_simscale_agent/ltf_te_simscale.ckpt |
| DiffusionDrive + SimScale + Ours | diffusiondrive_te_simscale_agent |
weights/diffusiondrive_te_simscale_agent/diffusiondrive_te_simscale.ckpt |
Download Only the Driving Checkpoints
huggingface-cli download Zzz0918/Traffic_Elements \
--repo-type dataset \
--include "weights/*/*.ckpt" \
--local-dir traffic_elements_release
Install Checkpoints for Evaluation
Run these commands from the root of the TE-Aware-E2E-AD code repository after downloading the checkpoints. The commands below copy each checkpoint to the default path expected by its released evaluation script.
mkdir -p e2e/navsim/exp/ltf_te_agent
cp traffic_elements_release/weights/ltf_te_agent/ltf_te.ckpt \
e2e/navsim/exp/ltf_te_agent/ltf_te.ckpt
mkdir -p e2e/navsim/exp/diffusiondrive_te_agent
cp traffic_elements_release/weights/diffusiondrive_te_agent/diffusiondrive_te.ckpt \
e2e/navsim/exp/diffusiondrive_te_agent/diffusiondrive_te.ckpt
mkdir -p e2e/navsim/exp/ltf_te_simscale_agent
cp traffic_elements_release/weights/ltf_te_simscale_agent/ltf_te_simscale.ckpt \
e2e/navsim/exp/ltf_te_simscale_agent/ltf_te_simscale.ckpt
mkdir -p e2e/navsim/exp/diffusiondrive_te_simscale_agent
cp traffic_elements_release/weights/diffusiondrive_te_simscale_agent/diffusiondrive_te_simscale.ckpt \
e2e/navsim/exp/diffusiondrive_te_simscale_agent/diffusiondrive_te_simscale.ckpt
Evaluate on NAVHARD
First follow the GitHub setup and data instructions to prepare the NAVSIM/DiffusionDrive environment, original driving data, traffic-element annotations, and required paths. The checkpoints alone do not include these dependencies.
Generate the shared NAVHARD metric cache once, then evaluate the selected agent:
bash e2e/navsim/scripts/traffic_elements/run_navhard_metric_caching.sh
bash e2e/navsim/scripts/traffic_elements/run_ltf_te_agent.sh eval
bash e2e/navsim/scripts/traffic_elements/run_diffusiondrive_te_agent.sh eval
bash e2e/navsim/scripts/traffic_elements/run_ltf_te_simscale_agent.sh eval
bash e2e/navsim/scripts/traffic_elements/run_diffusiondrive_te_simscale_agent.sh eval
For dataset caching and training, use the corresponding scripts documented in the GitHub README. The non-SimScale agents expose cache, train, and eval; SimScale agents use cache, pdm, recovery, and eval. The released files above are evaluation checkpoints; follow the training scripts for stage-specific initialization checkpoints and synthetic-data requirements.
Please follow the licenses and terms of use of the original nuScenes, NAVSIM, and SimScale datasets.
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