Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Driving
Paper • 2608.18035 • Published • 1
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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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/navsim_traffic_elements.tar.gz |
{
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} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/c83a7446c0b95ded | hf://datasets/Zzz0918/Traffic_Elements@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/navsim_traffic_elements.tar.gz |
{
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} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/8921d76ba0b95fc6 | hf://datasets/Zzz0918/Traffic_Elements@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/navsim_traffic_elements.tar.gz |
{
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{
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{
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{
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{
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{
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{
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{
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{
"traffic_elements": []
} | data/navsim/traffic_elements/trainval/2021.08.31.18.15.54_veh-40_01143_01496/ccd12b83d5d75e1d | hf://datasets/Zzz0918/Traffic_Elements@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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@7ad1ea4851d7d6a21dc4b6c3b8bb19d862d90d57/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.
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 three dataset archives and YOLO checkpoint can also be downloaded individually from the links in the table above.
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
Please follow the licenses and terms of use of the original nuScenes, NAVSIM, and SimScale datasets.
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