Autonomous Driving Datasets

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9 papers in the last four weeks, up 80% on the four weeks before. 0.1% of all new papers.

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Sensor2Sensor: Cross-Embodiment Sensor Conversion for Autonomous Driving
May 21, 2026Jiahao Wang, Bo Sun, Yijing Bai +12Autonomous Driving Datasets Autonomous Driving
Waymo · Johns Hopkins University · Google DeepMind +1
FRED: A Multi-Modal Autonomous Driving Dataset for Flooded Road Environments
May 21, 2026Connor Malone, Sebastien Demmel, Sebastien GlaserAutonomous Driving Datasets Autonomous Driving
Queensland University of Technology, Australia
Closed Loop Dynamic Driving Data Mixture for Real-Synthetic Co-Training
May 20, 2026Hongzhi Ruan, Pei Liu, Weiliang Ma +5Autonomous Driving Datasets Synthetic Data Augmentation
Li Auto · HKUST (GZ) · HKUST
4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving
May 18, 2026Kane Qian, Xin Zhao, Yining Shi +7Autonomous Driving Datasets Autonomous Driving
1Tsinghua University. · 2Hesai Technology Co., Ltd.
DriveCtrl: Conditioned Sim-to-Real Driving Video Generation
May 14, 2026Haonan Zhao, Yiting Wang, Jingkun Chen +3Autonomous Driving Datasets Synthetic Data Augmentation
University of Warwick · 2Northwestern Polytechnical University · 3Queen Mary University of London
XWOD: A Real-World Benchmark for Object Detection under Extreme Weather Conditions
May 12, 2026Chih-Hsin Chen, Yu-Tung Liu, Amar Fadillah +2Autonomous Driving Datasets Autonomous Driving Benchmarks
Department of Electronic Engineering, National Taipei University of Technology · Adobe Inc.
Temporal Sampling Frequency Matters: A Capacity-Aware Study of End-to-End Driving Trajectory Prediction
May 11, 2026Yumao Liu, Tao Liu, Xiangyu Li +2Autonomous Driving Datasets End-to-End Autonomous Driving
The Hong Kong University of Science and Technology (Guangzhou)
DRIVE-C: A Controlled Corruption Dataset for Autonomous Driving
May 10, 2026Shiva AherAutonomous Driving Datasets Autonomous Driving Benchmarks
Georgia Institute of Technology, Georgia, United States
123D: Unifying Multi-Modal Autonomous Driving Data at Scale
May 8, 2026Daniel Dauner, Valentin Charraut, Bastian Berle +10Autonomous Driving Datasets Autonomous Driving
1KE:SAI · University of Tübingen, Tübingen AI Center · 4Valeo Brain +4
CARD: A Multi-Modal Automotive Dataset for Dense 3D Reconstruction in Challenging Road Topography
May 6, 2026Gasser Elazab, Frank Neuhaus, Tilman Koß +5Autonomous Driving Datasets Autonomous Driving Benchmarks
1CARIAD SE · 2Technische Universität Berlin · 3Vision & Robotics GmbH
Learning from the Unseen: Generative Data Augmentation for Geometric-Semantic Accident Anticipation
Apr 29, 2026Yanchen Guan, Haicheng Liao, Chengyue Wang +4Autonomous Driving Datasets Synthetic Data Augmentation
State Key Laboratory of Internet of Things for Smart City, University of Macau, Macau SAR, 999078, China. · Department of Civil Engineering, University of Macau, Macau SAR, 999078, China. · Department of Computer and Information Science, University of Macau, Macau SAR, 999078, China. +1
TRACE: Topology-aware Reconstruction of Accidents in CARLA for AV Evaluation
Apr 23, 2026Nahian Salsabil, Sebastian ElbaumAutonomous Driving Datasets Autonomous Driving Benchmarks
University of Virginia Charlottesville, Virginia, USA
Robust Localization for Autonomous Vehicles in Highway Scenes
Apr 23, 2026Daqian Cheng, Xuchu Ding, Yujia Wu +2Autonomous Driving Datasets Autonomous Driving
Bot Auto · Archer Aviation · Prexa AI
OVPD: A Virtual-Physical Fusion Testing Dataset of OnSite Auton-omous Driving Challenge
Apr 22, 2026Yuhang Zhang, Jiarui Zhang, Bowen Jian +6Autonomous Driving Datasets Autonomous Driving Benchmarks
College of Transportation, Tongji University, Shanghai 201804, China.
ParkingScenes: A Structured Dataset for End-to-End Autonomous Parking in Simulation Scenes
Apr 20, 2026Haonan Chen, Kaiwen Xiao, Bin Tian +1Autonomous Driving Datasets End-to-End Autonomous Driving
Institute of Automation · Chinese Academy of Sciences · Beijing, China +3
Boreas Road Trip: A Multi-Sensor Autonomous Driving Dataset on Challenging Roads
Feb 18, 2026Daniil Lisus, Katya M. Papais, Cedric Le Gentil +4Autonomous Driving Datasets Autonomous Driving Benchmarks
University of Toronto Institute of Aerospace Studies, Toronto, Canada · Trimble, Canada
WaymoQA: A Multi-View Visual Question Answering Dataset for Safety-Critical Reasoning in Autonomous Driving
Nov 25, 2025Seungjun Yu, Seonho Lee, Namho Kim +5Autonomous Driving Datasets Visual Question Answering
KAIST Seoul, Republic of Korea · Hanyang University Seoul, Republic of Korea
ROVR-Open-Dataset: A Large-Scale Depth Dataset for Autonomous Driving
Aug 19, 2025Xianda Guo, Ruijun Zhang, Yiqun Duan +9Autonomous Driving Datasets Depth Estimation
School of Computer Science, Wuhan University, China · Institute of Automation, Chinese Academy of Sciences (CASIA), China · University of Technology Sydney, Australia +6
AutoExpert: Automating 3D LiDAR Annotation from Expert-Crafted Guidelines
Jun 3, 2025Yechi Ma, Wei Hua, Shu KongAutonomous Driving Datasets Lidar-Based 3D Object Detection
Zhejiang University · University of Macau · Institute of Collaborative Innovation
ROAD-Waymo: A Large-Scale Action Awareness Dataset for Autonomous Driving
Nov 3, 2024Salman Khan, Izzeddin Teeti, Reza Javanmard Alitappeh +5Autonomous Driving Datasets Autonomous Driving Benchmarks
Oxford Brookes University · MAZUST · University of Oxford +2

May 21, 2026, cs.CVJ/K move · Enter open · S save

Sensor2Sensor: Cross-Embodiment Sensor Conversion for Autonomous Driving

Jiahao Wang, Bo Sun, Yijing Bai, Vincent Casser+11

Waymo · Johns Hopkins University · Google DeepMind+1

Autonomous Driving Datasets Autonomous Driving Synthetic Data Generation for Robotics Multimodal Diffusion Models

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Robust training and validation of Autonomous Driving Systems (ADS) require massive, diverse datasets. Proprietary data collected by Autonomous Vehicle (AV) fleets, while high-fidelity, are limited in scale, diversity of sensor configurations, as well as geographic and long-tail-behavioral coverage. In contrast, in-the-wild data from sources like dashcams offers immense scale and diversity, capturing critical long-tail scenarios and novel environments. However, this unstructured, in-the-wild video data is incompatible with ADS expecting structured, multi-modal sensor inputs for validation and training. To bridge this data gap, we propose Sensor2Sensor, a novel generative modeling paradigm that translates in-the-wild monocular dashcam videos into a high-fidelity, multi-modal sensor suite (AV logs) comprising multi-view camera images and LiDAR point clouds. A core challenge is the lack of paired training data. We address this by converting real AV logs into dashcam-style videos via 4D Gaussian Splatting (4DGS) reconstruction and novel-view rendering. Sensor2Sensor then utilizes a diffusion architecture to perform the generative conversion. We perform comprehensive quantitative evaluations on the fidelity and realism of the generated sensor data. We demonstrate Sensor2Sensor's practical utility by converting challenging in-the-wild internet and dashcam footage into realistic, multi-modal data formats, further unlocking vast external data sources for AV development.

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