Surround-camera driving clips from a real Munich HD map built by
SimForge, each paired with the ego vehicle's full trajectory. Every clip is a nine-panel video -- six surround cameras at
the ego's real sensor extrinsics, a chase view, a bird's-eye view, and the frame-locked
CommonRoad ground truth -- so what the model sees and what the data says are visible side
by side.
500 clips over 50 base scenarios (500 sumo)
61,200 agent-replays, 79-161 agents per clip
12… See the full description on the dataset page:
https://huggingface.co/datasets/TUM-AVS/munich2drive.
