--- extra_gated_heading: You must agree to the NVIDIA Autonomous Vehicle Dataset License Agreement to access this dataset. extra_gated_prompt: >- ### NVIDIA Autonomous Vehicle Dataset License Agreement This NVIDIA Autonomous Vehicle Dataset License Agreement ("Agreement") is a legal agreement between you, whether an individual or entity ("you") and NVIDIA Corporation with address 2788 San Tomas Expressway, Santa Clara, California 95051 ("NVIDIA") and governs the use of certain datasets, including any annotations and metadata attached to the datasets, provided by NVIDIA ("Dataset"). This Agreement can be accepted only by an adult of legal age of majority in the country in which the Dataset are used. If you don't have the required age or authority to accept this Agreement or if you don't accept all the terms and conditions of this Agreement, do not use the Dataset. 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If a court of competent jurisdiction rules that a provision of this Agreement is unenforceable, that provision will be deemed modified to the extent necessary to make it enforceable and the remainder of this Agreement will continue in full force and effect. Any amendment to this Agreement must be in writing and signed by authorized representatives of both parties. 13.7 Independent Contractors. The parties are independent contractors, and this Agreement does not create a joint venture, partnership, agency or other form of business association between the parties. Neither party will have the power to bind the other party or incur any obligation on its behalf without the other party's prior written consent. 13.8 Construction. The headings in the Agreement are included solely for convenience and are not intended to affect the meaning or interpretation of the Agreement. As required by the context of the Agreement, the singular of a term includes the plural and vice versa. 13.9 Entire Agreement. Regarding the subject matter of this Agreement, the parties agree that (i) this Agreement constitutes the entire and exclusive agreement between the parties and supersedes all prior and contemporaneous communications and (ii) any additional or different terms or conditions, whether contained in purchase orders, order acknowledgments, invoices or otherwise, will not be binding and are null and void. extra_gated_button_content: "I accept the terms of the NVIDIA Autonomous Vehicle Dataset License Agreement" license: other license_name: nvidia-av-dataset license_link: https://huggingface.co/datasets/nvidia/Cosmos-Transfer-LidarGen-Example/blob/main/LICENSE viewer: false --- ## Dataset Description: This dataset consists of 10 synchronized clips of LiDAR and multi-view video, accompanied by corresponding camera and LiDAR poses. This dataset is ready for commercial/non-commercial use. ## Dataset Owner(s): NVIDIA Corporation ## Dataset Creation Date: Oct 23, 2025 ## License/Terms of Use: This dataset is governed by [NVIDIA Autonomous Vehicle Dataset License Agreement](https://huggingface.co/datasets/nvidia/Cosmos-Transfer-LidarGen-Example/blob/main/LICENSE). ## Intended Usage: This dataset is intended to demonstrate and facilitate understanding and usage of the Cosmos-Transfer-LidarGEN model. ## Dataset Characterization ** Data Collection Method
* [Automatic/Sensors]
** Labeling Method
* [Automatic/Sensors]
## Dataset Format Modality: LiDAR, Camera Intrinsics and Extrinsics, multi-view videos Format Classification: LiDAR Point Clouds, multi-view videos You will see the following folder structure: Sensor Data | Folder | File Format | Description | | :--- | :--- | :--- | | lidar | .tar | LiDAR point clouds without motion compensation (10 FPS) | | ftheta\_camera\_front\_wide\_120fov | .mp4 | Video captured by front wide camera | | ftheta\_camera\_rear\_left\_70fov | .mp4 | Video captured by rear left camera | | ftheta\_camera\_rear\_right\_70fov | .mp4 | Video captured by rear right camera | | pose | .tar | Camera poses derived from vehicle pose (30 FPS) | | ftheta\_intrinsic | .tar | Camera intrinsic parameters for each view | | metadata | .npz | Timestamp and pose information of the processed lidar data | 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.
Please visit https://github.com/nv-tlabs/cosmos-av-sample-toolkits to learn about how to use this dataset example. ## Dataset Quantification Record Count: 10 synchronized clips of LiDAR and multi-view video
Feature Count: LiDAR data, multi-view videos
Measurement of Total Data Storage: 1.91 GB
## Reference(s): https://research.nvidia.com/labs/toronto-ai/cosmos_drive_dreams/ ## 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 model quality, risk, security vulnerabilities or NVIDIA AI Concerns here.