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Additional dataset demos

autonomy_datasets makes it easy to run the demo with other supported datasets.

For example, the nvidia profile uses the NVIDIA PhysicalAI Autonomous Vehicles dataset. It downloads selected scenes, converts them to ROS bags, and replays them through the detector.

Feel free to configure additional demos with one of the datasets available through autonomy_datasets.

Example setup for the NVIDIA PhysicalAI Autonomous Vehicles dataset

  1. Create a read-only Hugging Face access token.

  2. Accept the dataset terms on the NVIDIA dataset page.

  3. Store the token in demo/.env:

    HF_TOKEN=your_token_here

  4. Allow the containers to access the local X server and start the profile:

    xhost +local:
cd demo
docker compose --profile nvidia up -d

    ⚠️ The first scene may take at least several minutes to download and convert.

    ℹ️ Change the country with nvidia_filter_countries in config/autonomy_datasets.nvidia.params.yml. Generated data is stored under demo/data/datasets and can be reused in later runs.

  5. Shutdown of the demo:

    docker compose --profile nvidia down
xhost -local:

Custom PCD files

To process your own PCD files, follow these instructions.