The NAVSIM framework utilizes several dataset splits for standardized training and evaluating agents.
All of them use the OpenScene dataset that is divided into the dataset splits mini, trainval, test, which can all be downloaded separately.
It is possible to run trainings and evaluations directly on these sets (see OpenScene in table below).
Alternatively, you can run trainings and evaluations on training and validation splits that were filtered for challenging scenarios (see NAVSIM in table below), which is the recommended option for producing comparable and competitive results efficiently.
In contrast to the dataset splits which refer to a downloadable set of logs, the training / test splits are implemented as scene filters, which define how scenes are extracted from these logs.
The NAVSIM training / test splits subsample the OpenScene dataset splits.
Moreover, the NAVSIM splits include overlapping scenes, while the Standard splits are non-overlapping.
Specifically, navtrain is based on the trainval data and navtest and navhard_two_stage on the test data.
As the trainval sensor data is very large, we provide a separate download link, which loads only the frames needed for navtrain.
This eases access for users that only want to run the navtrain split and not the trainval split. If you already downloaded the full trainval sensor data, it is not necessary to download the navtrain frames as well.
The logs are always the complete dataset split.
The Table belows offers an overview on the training and test splits supported by NAVSIM.
| Name | Description | Logs | Sensors | Config parameters | |
|---|---|---|---|---|---|
| OpenScene | trainval | Large split for training and validating agents with regular driving recordings. Corresponds to nuPlan and downsampled to 2HZ. | 14GB | >2000GB | train_test_split=trainval |
| test | Small split for testing agents with regular driving recordings. Corresponds to nuPlan and downsampled to 2HZ. | 1GB | 217GB | train_test_split=test | |
| mini | Demo split for with regular driving recordings. Corresponds to nuPlan and downsampled to 2HZ. | 1GB | 151GB | train_test_split=mini | |
| NAVSIM | navtrain | Standard split for training agents in NAVSIM with non-trivial driving scenes. Sensors available separately in download_navtrain_aws.sh (AWS download) or download_navtrain_hf.sh (HuggingFace download). | 14GB | 445GB* | train_test_split=navtrain |
| navtest | Standard split for testing agents in NAVSIM with non-trivial driving scenes. Available as a filter for test split. | 983MB | 223GB | train_test_split=navtest | |
| navhard_two_stage | Standard split for testing agents in NAVSIM v2 with real and synthetic driving scenes. Synthetic frames downloadable via download_navhard_two_stage.sh. | 892MB | 31GB | train_test_split=navhard_two_stage | |
| Competition | warmup_two_stage | Warmup test split to validate submission on hugging face. Synthetic frames downloadable via download_warmup_two_stage.sh. | 27MB | 1.2G | train_test_split=warmup_two_stage |
| private_test_hard_two_stage | Private test split for the challenge leaderboard on hugging face. Original and synthetic frames downloadable via download_private_test_hard_two_stage.sh | 14MB | 11GB | train_test_split=private_test_hard_two_stage |
(*300GB without history)
The standard splits trainval, test, and mini are from the OpenScene dataset. Note that the data corresponds to the nuPlan dataset with a lower frequency of 2Hz. You can download all standard splits over Hugging Face with the bash scripts in download
NAVSIM provides a subset and filter of the trainval split, called navtrain. The navtrain split facilitates a standardized training scheme and requires significantly less sensor data storage than travel (445GB vs. 2100GB). If your agents don't need historical sensor inputs, you can download navtrain without history, which requires 300GB of storage. Note that the sensor data for navtrain can be downloaded separately via download_navtrain_aws.sh or download_navtrain_hf.sh but it still requires access to the trainval logs.
The navtest split enables a standardized set for testing agents in NAVSIM v1 with a provided scene filter. Similarly, the navhard_two_stage split split facilitates pseudo closed-loop simulation for evaluation in NAVSIM v2. navtrain, navtest and navhard_two_stage are filtered to increase interesting samples in the sets.
For the challenge on Hugging Face, we provide the warmup_two_stage and private_test_e2e for the warm-up and challenge track, respectively.
As previous users reported missing files when downloading navtrain, we provide MD5 checksums for the .tgz files to identify corrupted downloads. We recommend to re-download navtrain without deleting the .tgz files (i.e. removing Line 12 and 22 in download_navtrain_aws.sh) and running:
echo "6f92f38d5f03ed852da7872a7122bdd2 navtrain_current_1.tgz" | md5sum -c -
echo "7a72f0a758b5df6cbe4c565920a4869f navtrain_current_2.tgz" | md5sum -c -
echo "b083fce1428308abb5682a1a150cc1af navtrain_current_3.tgz" | md5sum -c -
echo "68354ac2c993aa1ebbfac59547fdb840 navtrain_current_4.tgz" | md5sum -c -
echo "dc46ed34d92d5ab9cc1464d67b72fbf6 navtrain_history_1.tgz" | md5sum -c -
echo "fab177bdb79c0c9536da1566d13e5995 navtrain_history_2.tgz" | md5sum -c -
echo "71ed9a2387edc3849921861d7873c7f0 navtrain_history_3.tgz" | md5sum -c -
echo "2cc13aced2f458e50fe4cc2f26d18e07 navtrain_history_4.tgz" | md5sum -c -Expected output:
navtrain_current_1.tgz: OK
navtrain_current_2.tgz: OK
navtrain_current_3.tgz: OK
navtrain_current_4.tgz: OK
navtrain_history_1.tgz: OK
navtrain_history_2.tgz: OK
navtrain_history_3.tgz: OK
navtrain_history_4.tgz: OK