Cosmos-Transfer1-7B-Sample-AV-Data-Example

Cosmos | Code | Paper | Paper Website

Dataset Description:

This dataset contains 10 sample data points intended to help users better utilize our Cosmos-Transfer1-7B-Sample-AV model. It includes HD Map annotations and LiDAR data, with no personally identifiable information such as faces or license plates. This dataset is intended for research and development only.

Dataset Owner(s):

NVIDIA

Dataset Creation Date:

2025/03/16

License/Terms of Use:

This dataset is governed by CC BY 4.0.

Intended Usage:

This dataset is intended to demonstrate and facilitate understanding and usage of the Cosmos-Transfer1-7B-Sample-AV model. It should primarily be used for educational and demonstration purposes.

Dataset Characterization

• Data Collection Method
  

  • Automatic/Sensors
    

• Labeling Method
  

  • Automatic/Sensors
    

Dataset Format

Modality: HDMap Annotations, LiDAR Format Classification: Structured data (LiDAR Point Clouds, HDMap Annotations)

Dataset Quantification

Record Count: 10 sample data points Feature Count: HDMap annotations, LiDAR data Measurement of Total Data Storage: 10GB

Reference(s):

Public Repo Location: https://huggingface.co/nvidia/Cosmos-Transfer1-7B-Sample-AV

Ethical Considerations:

NVIDIA believes Trustworthy AI is a shared responsibility and we have established policies and practices to enable development for a wide array of AI applications. When downloaded or used in accordance with our terms of service, developers should work with their internal model team to ensure this model meets requirements for the relevant industry and use case and addresses unforeseen product misuse.

Please report security vulnerabilities or NVIDIA AI Concerns here.

Contents

You will see the following folder structure, including several attributes (HDMap / LiDAR data, etc).

Sensor Data

Folder	File Format	Description
lidar_raw	.tar	Motion-compensated LiDAR point clouds (10 FPS)
pose	.tar	Camera poses derived from vehicle pose (30 FPS)
ftheta_intrinsic	.tar	Camera intrinsic parameters for each view

HDMap Annotations

Folder	File Format	Description
3d_lanes	.tar	3D lane boundaries (left and right)
3d_lanelines	.tar	3D lane centerlines
3d_road_boundaries	.tar	Road boundary annotations
3d_wait_lines	.tar	Waiting lines at intersections
3d_crosswalks	.tar	Crosswalk annotations (polygon format)
3d_road_markings	.tar	Road surface markings (turning arrows, stop lines, etc.)
3d_poles	.tar	Traffic poles (3D points)
3d_traffic_lights	.tar	Traffic lights (3D cuboid format)
3d_traffic_signs	.tar	Traffic signs (3D cuboid format)

Dynamic Object Annotations

Folder	File Format	Description
all_object_info	.tar	4D object tracking (position, dimensions, movement state)

Camera and LiDAR Synchronization

• Camera Frame Rate: 30 FPS
• LiDAR Frame Rate: 10 FPS
• Synchronization: Each LiDAR frame corresponds to 3 consecutive camera frames.
• Pose Interpolation: Camera poses are interpolated at the starting timestamp of each LiDAR frame.

How to Use the Dataset

Please visit https://github.com/nv-tlabs/cosmos-av-sample-toolkits to learn about how to use this dataset example.