nvidia/PhysicalAI-Autonomous-Vehicles-NuRec

Dataset Description:

Neural reconstructed dataset that carries 3D reconstructed driving scenes. The scenes are 20 second long and stored in form of usdz files, along with respective xodr map files, surface mesh. Users can use these 3D reconstructed driving scenes for training and testing their autonomous vehicle (AV) systems. This dataset is ready for commercial/non-commercial AV only use.

Dataset Owner(s):

NVIDIA Corporation

Dataset Creation Date:

06/09/2025

License/Terms of Use:

NVIDIA Autonomous Vehicle Dataset License Agreement

Intended Usage:

This dataset is intended to provide AV developers with the experience of NuRec capability and try out 3DGUT. Users can use this dataset to run a set of tests / experiments for an AV system and train AI models that use camera and reconstructed data. The scenes in this dataset are generated by and can be rendered by using NVIDIA NuRec. CARLA users can also utilize this dataset by which leveraging the NVIDIA NuRec integration in CARLA.

Dataset Characterization

Data Collection Method

• [Automatic/Sensors] - [Machine-derived]
  

Labeling Method

• [Automatic/Sensors] - [Machine-derived]
  

Dataset Format

Each reconstructed scene is stored as a USDZ File containing the following:

Files	Description
checkpoint.ckpt	Trained neural network weights
data_info.json	Timestamp and frame range detail per sensors
datasource_summary.json	Sensor track and poses summary
default.usda	Main scene file referencing all assets and configurations
dome_light.usda	Describe dome lighting for scene illumination
map.xodr	OpenDRIVE map file
mesh.ply	Polygon mesh file for 3D geometry
mesh.usd	USD file for 3D mesh
mesh_ground.ply	Polygon mesh file for ground surface geometry
mesh_ground.usd	USD file for ground mesh
metadata.yaml	YAML file with scene metadata
parsed_config.yaml	YAML configuration file
rig_trajectories.json	JSON file containing sensor rig trajectory data
rig_trajectories.usda	Rig trajectories in the USD scene
sequence_tracks.json	JSON file with object tracking information
sequence_tracks.usda	Object sequence tracks in the USD scene
volume.nurec	volumetric data file for neural reconstruction
volume.usda	USD ASCII file describing volumetric data in the scene

Dataset Quantification

Record Count: 4 usdz files (more coming soon) Measurement of Total Data Storage: 3.7GB

Reference(s):

@article{wu20253dgut, title={3DGUT: Enabling Distorted Cameras and Secondary Rays in Gaussian Splatting}, author={Wu, Qi and Martinez Esturo, Janick and Mirzaei, Ashkan and Moenne-Loccoz, Nicolas and Gojcic, Zan}, journal={Conference on Computer Vision and Pattern Recognition (CVPR)}, year={2025} }

Ethical Considerations:

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