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Download

The full RealSim-CP dataset is hosted on Google Drive.

:material-google-drive: Download RealSim-CP

License

The dataset is released under CC BY 4.0 — free to use, including commercially, with attribution. Please cite the paper (see README → Citation). The tools in this repository are MIT-licensed.

What you download

The dataset is organized by scenario, then by weather/time variant:

RealSim-CP/
└── <scenario>/                 # e.g. daiba_station_scenario
    ├── sunny_1/  sunny_2/       # clear daytime
    ├── night_1/  night_2/       # clear nighttime
    └── rainy_1/  rainy_2/       # rainy daytime

Each variant is a self-contained ~10-second clip at 10 Hz with its own images, point clouds, and a single OpenLABEL annotation file. See Dataset structure for the per-variant layout.

Grab only what you need

Variants are independent, so you can download a single weather/time variant of a single scenario to get started (a few GB) rather than the whole dataset. A good first download is one night variant of the Daiba Station scenario — it has the most complete sensor coverage.

Recommended first scene

daiba_station_scenario/night_1 — 4 RSUs + 11 vehicles, full camera and LiDAR coverage, 101 frames. Pair it with the Quickstart and the Visualizer.

Approximate sizes

A single fully-populated variant (images for all agents + LiDAR for all agents + the label file) is on the order of a few gigabytes; image-heavy multi-vehicle variants are larger. Daytime variants may omit some LiDAR (see Known issues). Plan disk accordingly before pulling multiple scenarios.

Next steps