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luuuulinnnn/Nurec_eval

Nurec_eval — NRE Closed-Loop Eval Set with HD Map 59 OOD-longtail scenes for AlpaSim closed-loop evaluation, exported from NVIDIA NRE 26.02 and augmented with HD-map artifacts (lane graph, road boundaries, crosswalks) so models can be evaluated with full map context — not just geometry. What's inside each pai_<uuid>.usdz File Purpose default.usda USDZ entry point checkpoint.ckpt Neural reconstruction (NRE-26.02 gsplat) weights parsed_config.yaml NRE… See the full description on the dataset page: https://huggingface.co/datasets/luuuulinnnn/Nurec_eval.

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Nurec_eval — NRE Closed-Loop Eval Set with HD Map

59 OOD-longtail scenes for AlpaSim closed-loop evaluation, exported from NVIDIA NRE 26.02 and augmented with HD-map artifacts (lane graph, road boundaries, crosswalks) so models can be evaluated with full map context — not just geometry.

What's inside each pai_<uuid>.usdz

FilePurpose
default.usdaUSDZ entry point
checkpoint.ckptNeural reconstruction (NRE-26.02 gsplat) weights
parsed_config.yamlNRE training config
data_info.jsonSequence metadata
datasource_summary.jsonCamera/lidar rig info
mesh.ply / mesh.usdPoisson reconstructed scene mesh
ground_mesh.plyGround mesh (used for offroad / collisionwithground)
rig_trajectories.json / .usdaRecorded ego trajectory (route source)
sequence_tracks.json / .usdaOther actors' recorded trajectories
`map_data/cf_crosswalks.parquet`HD-map: crosswalk polygons
`map_data/cf_lane_topology_node.parquet`HD-map: lane topology
`map_data/cf_road_boundary.parquet`HD-map: road boundaries
`map_data/dw_lane.parquet`HD-map: drivable lanes
`map_data/lane_chunk.parquet`HD-map: lane geometry
`map_data/lane_rail.parquet`HD-map: lane center rails

The 6 map_data/*.parquet files were injected via inject_map.py using NRE-internal HD-map data.

Scene composition — 59 scenes from 8 OOD-longtail buckets

CategoryScenes
Animals / Birds / Roadkill7
Complex Intersection Interaction7
Cyclists & Micromobility Complex8
Emergency Incident Scene7
Pedestrian Density / Close Proximity8
Road Debris / Safety Traces5
Special / Uncommon Vehicle Behavior8
Work Zones / Temp Traffic Control8
⚠️ Broken (route folds back)1
Total usable58 × 2 rollouts = 116

Usage with AlpaSim

bash
# Mount this dataset in the AlpaSim wizard
alpasim_wizard \
  deploy=local topology=1gpu driver=<your_model> \
  +physics=disabled +vehicle=custom \
  scenes.path=/path/to/Nurec_eval \
  scenes.scenes_csv=/path/to/Nurec_eval/sim_scenes.csv \
  scenes.suites_csv=/path/to/Nurec_eval/sim_suites.csv \
  ...

Note: physics=disabled is still required because these are recon-only USDZs (no vehicle-physics config). The HD map is consumed by driver models for lane-aware decision making and by metrics like wrong_lane / offroad-by-lane.

What was missing before

Without map_data/*.parquet, driver models had no map context during closed-loop sim, and lane-aware metrics (wrong_lane) couldn't be computed. This dataset adds them back.

Source