Redesign OccStress dataset card and organize download/format guides

DOWNLOAD.md

@@ -0,0 +1,98 @@
+# Download and Setup
+
+Return to the [dataset card](README.md) for coverage and an initial download example.
+
+The download entry point is
+[insailab/OccStress](https://huggingface.co/datasets/insailab/OccStress).
+The [package index](packages.json) lists archive paths, availability, file counts,
+unpacked sizes and archive SHA256 values. Each archive is independent, not a
+split volume; extract selected archives into the same root. Asset shards target
+2 GiB before compression and are grouped by dataset, track and upstream source.
+
+## Verified Downloads From the Code Checkout
+
+From the OccStress code checkout, this workflow selects an immutable
+dataset revision, downloads only the requested track, and verifies archive
+sizes and SHA256 checksums:
+
+```bash
+python -m pip install -e '.[download]'
+python tools/list_data_packages.py --fetch --dataset waymo --track manual > selection.json
+python tools/download_data.py --selection selection.json \
+  --output-dir /datasets/OccStress-download
+```
+
+Replace `waymo` with `nuscenes` or `carla`, and `manual` with `upstream` or `all`
+as needed. Keep the selection and download receipt with the evaluation record.
+Only packages marked `available` can be downloaded with this tool. Re-running
+reuses verified archives; `--verify-only` checks a download without network access.
+Use a separate download/extraction directory for each dataset revision.
+
+## Hub CLI Downloads
+
+To download all published files with the Hub CLI:
+
+```bash
+python -m pip install huggingface_hub
+hf download insailab/OccStress --repo-type dataset \
+  --local-dir /datasets/OccStress-download
+```
+
+For a smaller download, this example selects Waymo manual assets and the
+corresponding protocols/metadata. The published package index records the
+complete archive set for each selection.
+
+```bash
+hf download insailab/OccStress --repo-type dataset \
+  --local-dir /datasets/OccStress-download \
+  --include README.md DOWNLOAD.md FORMAT.md EXTERNAL_DATA.md DISTRIBUTION.md packages.json \
+  'manifests/*' 'metadata/common.tar.zst' 'metadata/OccStress-Waymo.tar.zst' \
+  'archives/manual/OccStress-Waymo/*.tar.zst'
+```
+
+Metadata packages contain all protocols for their dataset. Running an upstream
+or position-sweep protocol additionally requires the corresponding asset shards.
+Position sweeps reuse manual/upstream assets; they have no duplicate voxel packs.
+
+## Extraction and External Dependencies
+
+Downloading files does not extract archives or obtain external GT. Use a
+separate directory for original dependencies:
+
+```bash
+export OCCSTRESS_DATA_ROOT=/datasets/OccStress
+export OCCSTRESS_EXTERNAL_ROOT=/datasets/OccStress-external
+mkdir -p "$OCCSTRESS_DATA_ROOT"
+set -euo pipefail
+find /datasets/OccStress-download/metadata /datasets/OccStress-download/archives \
+  -type f -name '*.tar.zst' -print0 | \
+  while IFS= read -r -d '' archive; do
+    tar --zstd -xf "$archive" --no-same-owner -C "$OCCSTRESS_DATA_ROOT"
+  done
+```
+
+The extraction example uses Bash, GNU tar and zstd. The archives contain
+relative paths directly under `meta/`, `protocols/`, `occ/` and `events/`; do
+not strip a path component. Keep `manifests/` and the documentation beside
+those directories if you also want the release records in the extracted tree.
+Archive checksums refer to the compressed files, not individual NPZ assets.
+
+In the OccStress code checkout, follow [EXTERNAL_DATA.md](EXTERNAL_DATA.md) to
+mount authorized Occ3D GT and official info files, or prepare CARLA's canonical
+GT. Then check the dataset you intend to use:
+
+```bash
+python tools/prepare_external_data.py check --dataset nuscenes --trust-pickle
+python tools/prepare_external_data.py check --dataset waymo --trust-pickle
+python tools/prepare_external_data.py check --dataset carla --trust-pickle
+```
+
+These are independent commands; only run the checks for datasets you prepared.
+Model evaluation also requires the selected forecaster's environment and
+checkpoint. Upstream 3D weights are needed only to regenerate exports, not to
+consume the provided predictions. Use the model-specific instructions in the
+code release.
+
+This is a file-based benchmark consumed by OccStress adapters, not an Arrow
+table to open directly with `datasets.load_dataset`. Protocol PKLs must come
+from a trusted source; do not unpickle arbitrary downloaded files.

FORMAT.md

@@ -0,0 +1,116 @@
+# Data Format and Evaluation Conventions
+
+Return to the [dataset card](README.md) or [download instructions](DOWNLOAD.md).
+
+## File Layout
+
+```text
+OccStress/
+  README.md
+  DOWNLOAD.md
+  FORMAT.md
+  EXTERNAL_DATA.md
+  DISTRIBUTION.md
+  manifests/
+  meta/
+    OccStress-nuScenes/
+    OccStress-Waymo/
+    OccStress-CARLA/
+  protocols/
+    manual/<dataset>/
+    upstream/<dataset>/<subtrack>/<source>/
+    position_sweep/OccStress-nuScenes/<setting>/
+  occ/
+    manual/<dataset>/<family>/<severity-if-applicable>/
+    upstream/<dataset>/<subtrack>/<source>/<condition>/
+  events/
+    manual/<dataset>/
+```
+
+`<dataset>` is one of `OccStress-nuScenes`, `OccStress-Waymo` or
+`OccStress-CARLA`. Paths in protocols are relative to this shared root.
+References beginning with `external/<dataset>/` resolve through
+`OCCSTRESS_EXTERNAL_ROOT`; external assets are not bundled in this tree.
+
+| Location | Contents |
+| --- | --- |
+| `meta/<dataset>/dataset.json` | Scene/frame/anchor counts, temporal window, grid and source metadata |
+| `meta/<dataset>/` | Class mapping and dataset-specific pose/control metadata or dependency descriptions |
+| `protocols/` | Anchor-aligned evaluation records and corruption/temporal settings |
+| `occ/` | Canonical derived occupancy NPZ assets shared across temporal protocols |
+| `events/` | Corruption event metadata where provided |
+| `manifests/` | Inventories and validation coverage |
+
+Upstream clean predictions are model outputs, not official clean GT.
+Misalignment uses transformation metadata rather than a second full occupancy
+copy. Do not duplicate assets for every temporal protocol.
+
+## Temporal and Label Conventions
+
+| Field | Convention |
+| --- | --- |
+| Canonical input window | Four historical states plus current: -2.0, -1.5, -1.0, -0.5, 0.0 seconds |
+| Future targets | Six actual future states: +0.5, +1.0, +1.5, +2.0, +2.5, +3.0 seconds |
+| Derived grid | 200 x 200 x 16 |
+| Canonical labels | Occ3D 18-class space, including free space; actual class support is dataset-dependent |
+| Anchor selection | Complete H4/current/F6 windows within a scene; identical anchors across its protocols |
+
+GenieDrive uses the last four observed states and does not observe -2.0 seconds.
+Record the actual model input window and control strategy in every comparison.
+Do not replace the first future target with current-frame reconstruction.
+
+The nuScenes position sweep includes ten hard settings, each with a clean
+reference and five single-state injection positions. Compare the four jointly
+observed positions across four- and five-state models; an unobserved earliest
+state is not evidence of robustness.
+
+Native Waymo `voxel_label` must be mapped using the supplied class map. Derived
+`semantics` arrays are already canonical and must not be mapped again.
+CARLA's native UniOcc arrays are left-handed; the evaluation view is
+x-forward/y-left/z-up. The external preparation tool maps labels and flips grid
+axis 1 exactly once while preserving the published right-handed controls.
+
+For CARLA, command order is `[right, left, straight]`. At the sixth future
+state, local y <= -2 m selects right and y >= 2 m selects left; otherwise
+straight. Non-anchor tail frames retain future-validity masks and a straight
+fallback. Every evaluated anchor has six valid future targets.
+Traffic mirrors y consistently in occupancy, poses and trajectories, and swaps
+the right/left command entries. Preserve these transformations when adapting
+another model.
+
+## Validation Scope
+
+Report semantic mIoU and binary occupancy IoU per future horizon and identify
+which horizons are averaged. Keep the metric convention, class support and
+control policy explicit. Historical paper scores and the code release's
+`occstress-present-gt-v1` convention can differ in absent-class handling and
+must not be mixed without qualification.
+
+Preparation checks cover protocol structure, anchor counts, relative-path
+resolution, NPZ members, grid shapes, legal labels and finite values. CARLA
+controls and traffic transforms have separate audits. The complete clean
+dependency check covers 14,377 GT references for existence and nonzero size.
+Loader equivalence and GPU compatibility checks are sampled, not exhaustive
+reruns of every model/protocol combination.
+
+Public coverage is recorded in `manifests/protocols.json`,
+`manifests/validation_coverage.json` and the CARLA control/metadata audit files.
+Internal job records and condition-level completion markers are not distributed.
+Event JSON files omit machine-specific `source_path` and `output_path` provenance;
+their numerical corruption metadata and occupancy contents are preserved.
+Use `packages.json`, not preparation receipts, to check download availability.
+Preparation status does not certify distribution permission or paper-score
+reproduction.
+
+## Sources
+
+The source datasets are [Occ3D](https://github.com/Tsinghua-MARS-Lab/Occ3D),
+[nuScenes](https://www.nuscenes.org/) and [Waymo](https://waymo.com/open/), plus
+[UniOcc CARLA](https://huggingface.co/datasets/tasl-lab/uniocc/tree/e81775b36e376f591a1145ca054b72fd541a67eb)
+(`Carla-2Hz-val`, three 120-frame scenes). Cite the corresponding datasets,
+corruption operators and upstream models in addition to OccStress.
+
+Access to these derived assets does not grant access to the source datasets or
+override their terms. Obtain the required source registration and permissions
+before use. This collection has source-dependent terms, not a blanket MIT
+license; see [DISTRIBUTION.md](DISTRIBUTION.md).

README.md

@@ -17,279 +17,161 @@ tags:
   - carla
 ---
 
-# OccStress
 
-**Stress-Testing the 4D Occupancy Forecasting Chain**
+<p align="center">
+  <img src="assets/occstress-logo.png" width="88" alt="OccStress logo">
+</p>
 
-[Paper (OccStress, v2)](https://arxiv.org/abs/2512.15621) |
-[Dataset](https://huggingface.co/datasets/insailab/OccStress) |
-[External Data Setup](EXTERNAL_DATA.md) |
-[Licenses and Use](DISTRIBUTION.md)
+<h1 align="center">OccStress</h1>
 
-OccStress evaluates how errors in observed 3D occupancy states affect future
-occupancy forecasts. It pairs sensor-corrupted upstream predictions with
-controlled occupancy-state interventions and temporal diagnostics, supporting
-source-specific and corruption-specific robustness analysis.
+<p align="center">
+  <strong>Stress-Testing the 4D Occupancy Forecasting Chain</strong><br>
+  NeurIPS 2026 &middot; Evaluations and Datasets Track
+</p>
 
-This repository contains protocol definitions, derived occupancy assets and
-supporting metadata for **OccStress-nuScenes**, **OccStress-Waymo** and
-**OccStress-CARLA**. It does not redistribute original camera images, LiDAR
-point clouds, official clean GT or model checkpoints.
+<p align="center">
+  <a href="https://insailab.org/OccStress/"><img src="https://img.shields.io/badge/Project_Page-444444?style=flat-square&amp;logo=data%3Aimage%2Fsvg%2Bxml%3Bbase64%2CPHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgdmlld0JveD0iMCAwIDI0IDI0IiBmaWxsPSJub25lIiBzdHJva2U9IndoaXRlIiBzdHJva2Utd2lkdGg9IjIiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLWxpbmVqb2luPSJyb3VuZCIgY2xhc3M9Imx1Y2lkZSBsdWNpZGUtZ2xvYmUiIGFyaWEtaGlkZGVuPSJ0cnVlIj48Y2lyY2xlIGN4PSIxMiIgY3k9IjEyIiByPSIxMCI%2BPC9jaXJjbGU%2BPHBhdGggZD0iTTEyIDJhMTQuNSAxNC41IDAgMCAwIDAgMjAgMTQuNSAxNC41IDAgMCAwIDAtMjAiPjwvcGF0aD48cGF0aCBkPSJNMiAxMmgyMCI%2BPC9wYXRoPjwvc3ZnPg%3D%3D" alt="Project Page"></a>
+  <a href="https://arxiv.org/abs/2512.15621"><img src="https://img.shields.io/badge/Paper-444444?style=flat-square&amp;logo=arxiv&amp;logoColor=white" alt="Paper on arXiv"></a>
+  <a href="https://insailab.org/OccStress/leaderboard/"><img src="https://img.shields.io/badge/Leaderboard-444444?style=flat-square&amp;logo=data%3Aimage%2Fsvg%2Bxml%3Bbase64%2CPHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgdmlld0JveD0iMCAwIDI0IDI0IiBmaWxsPSJub25lIiBzdHJva2U9IndoaXRlIiBzdHJva2Utd2lkdGg9IjIiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLWxpbmVqb2luPSJyb3VuZCIgY2xhc3M9Imx1Y2lkZSBsdWNpZGUtY2hhcnQtbm8tYXhlcy1jb2x1bW4taW5jcmVhc2luZyIgYXJpYS1oaWRkZW49InRydWUiPjxwYXRoIGQ9Ik01IDIxdi02Ij48L3BhdGg%2BPHBhdGggZD0iTTEyIDIxVjkiPjwvcGF0aD48cGF0aCBkPSJNMTkgMjFWMyI%2BPC9wYXRoPjwvc3ZnPg%3D%3D" alt="Leaderboard"></a>
+</p>
 
-This is an archive-based benchmark, not a row-based Hugging Face `datasets`
-table. Download the selected `.tar.zst` packages below; JSON manifests are
-release metadata, not individual evaluation samples.
+<p align="center">
+  <a href="#download">Download</a> &nbsp;&middot;&nbsp;
+  <a href="#dataset-coverage">Coverage</a> &nbsp;&middot;&nbsp;
+  <a href="FORMAT.md">Data Format</a> &nbsp;&middot;&nbsp;
+  <a href="DISTRIBUTION.md">Licenses and Use</a>
+</p>
 
-> **Availability, 2026-10-06:** Data preparation is complete. Package upload is complete. Consult [packages.json](packages.json) for the current status:
-> only packages marked `available` have passed remote size/content checks.
-> The overall status becomes `complete` after every planned package is verified.
+**How do perception errors affect future occupancy forecasts?** OccStress
+evaluates robustness across the occupancy forecasting chain, from sensor errors
+to 3D occupancy states and multi-horizon predictions.
 
-## Benchmark Tracks
+![OccStress overview: upstream and manual tracks, temporal protocols, and occupancy forecasting.](assets/overview.png)
 
-| Track | What is provided | Evaluation purpose |
-| --- | --- | --- |
-| Manual | Semantic replacement, dropout, holes, misalignment and traffic mirroring | Measure sensitivity to controlled occupancy-state interventions |
-| Upstream | Occupancy predictions from 3D models under camera or LiDAR stressors, with source-specific clean references | Measure errors propagated through perception into forecasting |
-| Position sweep | A clean reference and five single-state injection positions per setting | Isolate input-position effects at fixed corruption severity and budget |
+<p align="center">
+  <strong>3 datasets &middot; 10,827 unique anchors &middot; 975 protocols &middot; 6 future horizons</strong>
+</p>
 
-The main Current-only, Recent-burst and History-only regimes combine temporal
-position and duration. They measure scenario-level robustness, not isolated
-position effects. Traffic mirroring is a coordinate-consistent layout transfer
-and is reported separately from non-traffic manual robustness.
+This repository provides **evaluation protocols, derived occupancy assets and
+supporting metadata**. All **75 archives are available**, totaling **40.95 GB
+compressed** and **143.67 GB extracted** including metadata. Download only the
+dataset, track or upstream source you need.
 
-## Dataset Coverage
-
-| Dataset | Domain | Scenes | Frames | Anchors per protocol | Manual | Upstream | Position sweep |
-| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: |
-| OccStress-nuScenes | Real-world, Occ3D-nuScenes validation | 150 | 6,019 | 4,519 | 38 | 364 | 60 |
-| OccStress-Waymo | Real-world, Occ3D-Waymo validation at 2 Hz | 202 | 7,998 | 5,978 | 38 | 219 | 0 |
-| OccStress-CARLA | Simulated, UniOcc CARLA validation at 2 Hz | 3 | 360 | 330 | 38 | 218 | 0 |
+Original camera images, LiDAR, clean GT and model checkpoints are **not bundled**.
+See [external prerequisites](EXTERNAL_DATA.md) and [source-dependent terms](DISTRIBUTION.md).
 
-The prepared release contains **975 protocols**, **326 asset conditions** and
-**1,654,143 occupancy/event files**, totaling approximately **136.9 GB
-(127.5 GiB)** before archive packaging. Metadata, external datasets, checkpoints
-and temporary extraction space are additional.
+## Dataset Coverage
 
-Protocol counts include their clean references. Protocol records reuse anchors
-and assets; they are not independent scenes or unique samples. Waymo's two
-EFFOcc sensor-stress branches retain separate clean protocol files.
+| Dataset | Source | Scenes | Anchors per protocol |
+| --- | --- | ---: | ---: |
+| **OccStress-nuScenes** | nuScenes / Occ3D | 150 | 4,519 |
+| **OccStress-Waymo** | Waymo / Occ3D | 202 | 5,978 |
+| **OccStress-CARLA** | UniOcc CARLA simulation | 3 | 330 |
 
-The nuScenes position sweep has ten hard settings, each with one clean reference
-and five corrupted positions. Cross-model comparisons should use the four
-jointly observed positions when a model does not observe the earliest state.
-An unchanged result for an unobserved state is not evidence of robustness.
+All datasets use **2 Hz observations**, a canonical window of four historical
+states plus the current state, and six future targets at **+0.5 to +3.0 seconds**.
+The selected frames total 6,019 / 7,998 / 360 for nuScenes / Waymo / CARLA.
 
-## Download and Setup
+| Published protocols | nuScenes | Waymo | CARLA |
+| --- | ---: | ---: | ---: |
+| Manual | 38 | 38 | 38 |
+| Upstream | 364 | 219 | 218 |
+| Position sweep | 60 | 0 | 0 |
 
-The download entry point is
-[insailab/OccStress](https://huggingface.co/datasets/insailab/OccStress).
-The [package index](packages.json) lists archive paths, availability, file counts,
-unpacked sizes and archive SHA256 values. Each archive is independent, not a
-split volume; extract selected archives into the same root. Asset shards target
-2 GiB before compression and are grouped by dataset, track and upstream source.
+Counts include clean references. **Protocols reuse anchors and assets**;
+975 protocols do not represent 975 independent datasets or new sets of samples.
+Waymo's two EFFOcc sensor-stress branches retain separate clean protocol files.
 
-From the OccStress code checkout, the recommended workflow selects an immutable
-dataset revision, downloads only the requested track, and verifies archive
-sizes and SHA256 checksums:
+## What Can You Evaluate?
 
-```bash
-python -m pip install -e '.[download]'
-python tools/list_data_packages.py --fetch --dataset waymo --track manual > selection.json
-python tools/download_data.py --selection selection.json \
-  --output-dir /datasets/OccStress-download
-```
+- **Upstream robustness:** use source-specific occupancy predictions under
+  camera or LiDAR stressors to measure error propagation into forecasting.
+- **Manual robustness:** test semantic replacement, dropout, holes,
+  misalignment and traffic mirroring directly in occupancy states.
+- **Temporal sensitivity:** compare Current-only, Recent-burst and History-only
+  failure regimes, or use the fixed-budget, single-state position sweep to
+  isolate input-position effects.
 
-Replace `waymo` with `nuscenes` or `carla`, and `manual` with `upstream` or `all`
-as needed. Keep the selection and download receipt with the evaluation record.
-Only packages marked `available` can be downloaded with this tool. Re-running
-reuses verified archives; `--verify-only` checks a download without network access.
-Use a separate download/extraction directory for each dataset revision.
+Traffic mirroring transforms inputs, targets and motion metadata consistently
+and is reported separately from non-traffic robustness. Four-state models do
+not observe the earliest canonical input; that position is marked unobserved,
+not robust. See [format and evaluation conventions](FORMAT.md).
 
-Alternatively, to download all currently published files with the Hub CLI:
+## Download
 
-```bash
-python -m pip install huggingface_hub
-hf download insailab/OccStress --repo-type dataset \
-  --local-dir /datasets/OccStress-download
-```
+### Start With One Dataset and Track
 
-For a smaller download, this example selects Waymo manual assets and the
-corresponding protocols/metadata. Check that all required shards are `available`
-before evaluation; an in-progress upload is not a complete benchmark download.
+For example, download the **Waymo manual track** and its metadata:
 
 ```bash
+python -m pip install -U huggingface_hub
 hf download insailab/OccStress --repo-type dataset \
   --local-dir /datasets/OccStress-download \
-  --include README.md EXTERNAL_DATA.md DISTRIBUTION.md packages.json \
-  'manifests/*' 'metadata/common.tar.zst' 'metadata/OccStress-Waymo.tar.zst' \
+  --include README.md DOWNLOAD.md FORMAT.md EXTERNAL_DATA.md DISTRIBUTION.md packages.json \
+  'metadata/common.tar.zst' 'metadata/OccStress-Waymo.tar.zst' \
   'archives/manual/OccStress-Waymo/*.tar.zst'
 ```
 
-Metadata packages contain all protocols for their dataset. Running an upstream
-or position-sweep protocol additionally requires the corresponding asset shards.
-Position sweeps reuse manual/upstream assets; they have no duplicate voxel packs.
+Use [DOWNLOAD.md](DOWNLOAD.md) for other tracks, source-specific selection,
+pinned revisions, checksum verification and extraction commands.
+The [package index](packages.json) lists every archive's size and SHA256.
 
-Downloading files does not extract archives or obtain external GT. Use a
-separate directory for original dependencies:
+Extract selected archives into one shared `OccStress/` root, then prepare
+[external GT and metadata](EXTERNAL_DATA.md) before running a model.
+Reserve space for both downloaded archives and their extracted contents;
+original dependencies need additional storage.
 
-```bash
-export OCCSTRESS_DATA_ROOT=/datasets/OccStress
-export OCCSTRESS_EXTERNAL_ROOT=/datasets/OccStress-external
-mkdir -p "$OCCSTRESS_DATA_ROOT"
-set -euo pipefail
-find /datasets/OccStress-download/metadata /datasets/OccStress-download/archives \
-  -type f -name '*.tar.zst' -print0 | \
-  while IFS= read -r -d '' archive; do
-    tar --zstd -xf "$archive" --no-same-owner -C "$OCCSTRESS_DATA_ROOT"
-  done
+<details>
+<summary><strong>What is inside the extracted dataset?</strong></summary>
+
+```text
+OccStress/
+  meta/<dataset>/                   Dataset metadata and controls
+  protocols/manual/<dataset>/      Manual evaluation protocols
+  protocols/upstream/<dataset>/    Source-specific evaluation protocols
+  protocols/position_sweep/        Single-state temporal diagnostics
+  occ/manual/<dataset>/            Shared manual corruption assets
+  occ/upstream/<dataset>/          Exported upstream occupancy
+  events/manual/<dataset>/         Corruption event metadata
 ```
 
-The extraction example uses Bash, GNU tar and zstd. The archives contain
-relative paths directly under `meta/`, `protocols/`, `occ/` and `events/`; do
-not strip a path component. Keep `manifests/` and the documentation beside
-those directories if you also want the release records in the extracted tree.
-Archive checksums refer to the compressed files, not individual NPZ assets.
+`<dataset>` is `OccStress-nuScenes`, `OccStress-Waymo` or `OccStress-CARLA`.
+Protocol paths are relative to this root. Position sweeps reuse the existing
+occupancy assets; they do not need duplicate voxel packs. See [FORMAT.md](FORMAT.md).
 
-In the OccStress code checkout, follow [EXTERNAL_DATA.md](EXTERNAL_DATA.md) to
-mount authorized Occ3D GT and official info files, or prepare CARLA's canonical
-GT. Then check the dataset you intend to use:
+</details>
 
-```bash
-python tools/prepare_external_data.py check --dataset nuscenes --trust-pickle
-python tools/prepare_external_data.py check --dataset waymo --trust-pickle
-python tools/prepare_external_data.py check --dataset carla --trust-pickle
-```
+## Before Evaluation
 
-These are independent commands; only run the checks for datasets you prepared.
-Model evaluation also requires the selected forecaster's environment and
-checkpoint. Upstream 3D weights are needed only to regenerate exports, not to
-consume the provided predictions. Use the model-specific instructions in the
-code release.
+- **Use the matching ground truth.** Native Waymo labels require the supplied
+  mapping; CARLA requires the canonical right-handed view. Already converted
+  occupancy arrays must not be transformed twice.
+- **Keep the model's input and control policy.** Use all six genuine future
+  targets; do not substitute a current-frame reconstruction.
+- **Keep metric conventions explicit.** Historical paper metrics and the
+  released present-class convention are not interchangeable. Paper averages
+  use the 1, 2 and 3 second horizons.
+- **Use the assets directly when applicable.** Occupancy-input forecasting
+  does not require upstream weights or original sensors. Camera-direct methods
+  and upstream re-export do require the relevant sensor inputs.
 
-This is a file-based benchmark consumed by OccStress adapters, not an Arrow
-table to open directly with `datasets.load_dataset`. Protocol PKLs must come
-from a trusted source; do not unpickle arbitrary downloaded files.
+This is an **archive-based benchmark**, not an Arrow table for
+`datasets.load_dataset`. Only unpickle protocol files from trusted sources.
 
-## File Layout
+## Scope and Limitations
 
-```text
-OccStress/
-  README.md
-  EXTERNAL_DATA.md
-  DISTRIBUTION.md
-  manifests/
-  meta/
-    OccStress-nuScenes/
-    OccStress-Waymo/
-    OccStress-CARLA/
-  protocols/
-    manual/<dataset>/
-    upstream/<dataset>/<subtrack>/<source>/
-    position_sweep/OccStress-nuScenes/<setting>/
-  occ/
-    manual/<dataset>/<family>/<severity-if-applicable>/
-    upstream/<dataset>/<subtrack>/<source>/<condition>/
-  events/
-    manual/<dataset>/
-```
+OccStress is a controlled diagnostic stress test, **not a deployment-risk
+estimate or safety certification**. Its corruptions are reproducible stress
+conditions, not a calibrated distribution of real-world failures.
 
-`<dataset>` is one of `OccStress-nuScenes`, `OccStress-Waymo` or
-`OccStress-CARLA`. Paths in protocols are relative to this shared root.
-References beginning with `external/<dataset>/` resolve through
-`OCCSTRESS_EXTERNAL_ROOT`; external assets are not bundled in this tree.
-
-| Location | Contents |
-| --- | --- |
-| `meta/<dataset>/dataset.json` | Scene/frame/anchor counts, temporal window, grid and source metadata |
-| `meta/<dataset>/` | Class mapping and dataset-specific pose/control metadata or dependency descriptions |
-| `protocols/` | Anchor-aligned evaluation records and corruption/temporal settings |
-| `occ/` | Canonical derived occupancy NPZ assets shared across temporal protocols |
-| `events/` | Corruption event metadata where provided |
-| `manifests/` | Inventories and validation coverage |
-
-Upstream clean predictions are model outputs, not official clean GT.
-Misalignment uses transformation metadata rather than a second full occupancy
-copy. Do not duplicate assets for every temporal protocol.
-
-## Temporal and Label Conventions
-
-| Field | Convention |
-| --- | --- |
-| Canonical input window | Four historical states plus current: -2.0, -1.5, -1.0, -0.5, 0.0 seconds |
-| Future targets | Six actual future states: +0.5, +1.0, +1.5, +2.0, +2.5, +3.0 seconds |
-| Derived grid | 200 x 200 x 16 |
-| Canonical labels | Occ3D 18-class space, including free space; actual class support is dataset-dependent |
-| Anchor selection | Complete H4/current/F6 windows within a scene; identical anchors across its protocols |
-
-GenieDrive uses the last four observed states and does not observe -2.0 seconds.
-Record the actual model input window and control strategy in every comparison.
-Do not replace the first future target with current-frame reconstruction.
-
-Native Waymo `voxel_label` must be mapped using the supplied class map. Derived
-`semantics` arrays are already canonical and must not be mapped again.
-CARLA's native UniOcc arrays are left-handed; the evaluation view is
-x-forward/y-left/z-up. The external preparation tool maps labels and flips grid
-axis 1 exactly once while preserving the published right-handed controls.
-
-For CARLA, command order is `[right, left, straight]`. At the sixth future
-state, local y <= -2 m selects right and y >= 2 m selects left; otherwise
-straight. Non-anchor tail frames retain future-validity masks and a straight
-fallback. Every evaluated anchor has six valid future targets.
-Traffic mirrors y consistently in occupancy, poses and trajectories, and swaps
-the right/left command entries. Preserve these transformations when adapting
-another model.
-
-## Evaluation and Quality Checks
-
-Report semantic mIoU and binary occupancy IoU per future horizon and identify
-which horizons are averaged. Keep the metric convention, class support and
-control policy explicit. Historical paper scores and the code release's
-`occstress-present-gt-v1` convention can differ in absent-class handling and
-must not be mixed without qualification.
-
-Preparation checks cover protocol structure, anchor counts, relative-path
-resolution, NPZ members, grid shapes, legal labels and finite values. CARLA
-controls and traffic transforms have separate audits. The complete clean
-dependency check covers 14,377 GT references for existence and nonzero size.
-Loader equivalence and GPU compatibility checks are sampled, not exhaustive
-reruns of every model/protocol combination.
-
-Public coverage is recorded in `manifests/protocols.json`,
-`manifests/validation_coverage.json` and the CARLA control/metadata audit files.
-Internal job records and condition-level completion markers are not distributed.
-Event JSON files omit machine-specific `source_path` and `output_path` provenance;
-their numerical corruption metadata and occupancy contents are preserved.
-Use `packages.json`, not preparation receipts, to check download availability.
-Preparation status does not certify distribution permission or paper-score
-reproduction.
-
-## Intended Use and Limitations
-
-- Intended for research on occupancy forecasting robustness, error propagation
-  and controlled temporal sensitivity; not a deployment safety certification.
-- Corruptions are reproducible stress conditions, not samples from a calibrated
-  distribution of real-world failures. Scores are not deployment-risk estimates.
-- nuScenes and Waymo cover limited real-world driving domains. CARLA has only
-  three simulated validation scenes and cannot substitute for broad real-world
-  validation. Their label support and sensor configurations differ.
-- This release supplies evaluation subsets, not new training splits. Report
-  zero-shot evaluation separately from training or tuning on the target dataset.
-- Available protocols do not imply that every model supports every track.
-  Camera-direct forecasters and withheld third-party adapters have separate
-  applicability constraints in the code release.
-
-## Sources and Terms
-
-The source datasets are [Occ3D](https://github.com/Tsinghua-MARS-Lab/Occ3D),
-[nuScenes](https://www.nuscenes.org/) and [Waymo](https://waymo.com/open/), plus
-[UniOcc CARLA](https://huggingface.co/datasets/tasl-lab/uniocc/tree/e81775b36e376f591a1145ca054b72fd541a67eb)
-(`Carla-2Hz-val`, three 120-frame scenes). Cite the corresponding datasets,
-corruption operators and upstream models in addition to OccStress.
-
-Access to these derived assets does not grant access to the source datasets or
-override their terms. Obtain the required source registration and permissions
-before use. This collection has source-dependent terms, not a blanket MIT
-license; see [DISTRIBUTION.md](DISTRIBUTION.md).
+CARLA contains only three simulated validation scenes. The datasets differ in
+class support and sensor configuration; report cross-dataset and zero-shot
+settings explicitly. Published protocols do not imply that every model supports
+every track or that every model/protocol combination has been evaluated.
+
+Preparation checks and their scope are recorded in [FORMAT.md](FORMAT.md#validation-scope)
+and the published manifests. Source-dataset registration, attribution and use
+conditions still apply; see [DISTRIBUTION.md](DISTRIBUTION.md).
 
 ## Citation
 
@@ -303,7 +185,9 @@ license; see [DISTRIBUTION.md](DISTRIBUTION.md).
 }
 ```
 
-For dataset issues, use the
-[repository discussion page](https://huggingface.co/datasets/insailab/OccStress/discussions)
-and include the dataset, protocol path, code revision and error message. Do not
-post access tokens, private source-data links or identifying machine paths.
+Please also cite the source datasets, corruption operators and upstream models
+used in your evaluation. Source references are listed in [FORMAT.md](FORMAT.md#sources).
+
+For dataset issues, open a [discussion](https://huggingface.co/datasets/insailab/OccStress/discussions)
+with the dataset, protocol path, revision and error message. Do not post tokens
+or private source-data links.

assets/README.md

@@ -0,0 +1,31 @@
+# Paper Artwork
+
+- `occstress-logo.png`: rendered from the authors' `Figures/occstress-icon.pdf`.
+- `overview.png`: rendered from the authors' `Figures/1_teaser.pdf`.
+
+These images are faithful rasterizations of the existing OccStress manuscript
+artwork, not regenerated scientific results. The overview is displayed in the
+repository README. See the [paper](https://arxiv.org/abs/2512.15621) for context.
+
+## README Badge Icons
+
+The README uses Shields.io badges with arXiv and Hugging Face brand marks.
+The Project Page and Leaderboard badges embed the unmodified `Globe` and
+`ChartNoAxesColumnIncreasing` glyphs from [Lucide](https://lucide.dev).
+These two glyphs are covered by the following license:
+
+ISC License
+
+Copyright (c) 2026 Lucide Icons and Contributors
+
+Permission to use, copy, modify, and/or distribute this software for any
+purpose with or without fee is hereby granted, provided that the above
+copyright notice and this permission notice appear in all copies.
+
+THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.