MVAdapt: Zero-Shot Multi-Vehicle Adaptation for End-to-End Autonomous Driving
Paper • 2604.11854 • Published
Dataset Preview
The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code: DatasetGenerationError
Exception: ValueError
Message: EOF: reading magic string, expected 8 bytes got 0
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1576, in _prepare_split_single
for key, record in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 609, in wrapped
for item in generator(*args, **kwargs):
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 120, in _generate_examples
for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 56, in _get_pipeline_from_tar
current_example[field_name] = cls.DECODERS[data_extension](current_example[field_name])
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 301, in npy_loads
return numpy.lib.format.read_array(stream, allow_pickle=False)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/numpy/lib/_format_impl.py", line 820, in read_array
version = read_magic(fp)
^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/numpy/lib/_format_impl.py", line 242, in read_magic
magic_str = _read_bytes(fp, MAGIC_LEN, "magic string")
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/numpy/lib/_format_impl.py", line 1021, in _read_bytes
raise ValueError(msg % (error_template, size, len(data)))
ValueError: EOF: reading magic string, expected 8 bytes got 0
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1342, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 907, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1438, in _prepare_split
for job_id, done, content in self._prepare_split_single(
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1616, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
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End of preview.
MVAdapt Dataset
This repository contains the dataset for the paper MVAdapt: Zero-Shot Multi-Vehicle Adaptation for End-to-End Autonomous Driving.
MVAdapt is a physics-conditioned adaptation framework for multi-vehicle end-to-end (E2E) autonomous driving. The dataset includes driving data for 27 different vehicles in the CARLA simulator, covering a wide range of physical properties such as size, mass, and drivetrain characteristics.
Dataset Description
The dataset provides annotations and sensor data used to train and evaluate the MVAdapt model. It includes the following fields:
vehicle_id: Vehicle model idsgt_waypoint: Ground truth waypoint for vehicle modelbs_waypoint: Predicted waypoint from baseline model for default vehicle modelgt_control: Ground truth control for vehicle modelbs_control: Predicted control from baseline model for default vehicle modelscene_features: Features that extracted by backbone model (TransFuser)physics_params: Physical properties for vehicle modelgear_params: Gear properties for vehicle modelrgb: RGB imagelidar_bev: LiDAR BEV imagetarget_point: Target heading pointego_vel: Speed for ego vehiclecommand: Command for ego vehicle
Citation
If you find this work or dataset useful, please consider citing:
@misc{oh2026mvadaptzeroshotmultivehicleadaptation,
title={MVAdapt: Zero-Shot Multi-Vehicle Adaptation for End-to-End Autonomous Driving},
author={Haesung Oh and Jaeheung Park},
year={2026},
eprint={2604.11854},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2604.11854},
}
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