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### NVIDIA Autonomous Vehicle Dataset License Agreement
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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.
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.