it4lia/sensodat

# SensoDat: Simulation-based Sensor Dataset of Self-driving Cars

Jupyter Notebook Code: [https://huggingface.co/datasets/it4lia/sensodat/blob/main/analysis.ipynb](https://huggingface.co/datasets/it4lia/sensodat/blob/main/analysis.ipynb)

Latest Release on Zendodo: [](https://doi.org/10.5281/zenodo.12600225)

Original Paper Artifact: [](https://doi.org/10.5281/zenodo.10307479)

## SensODAT: Sensor Data of Autonomous Driving Tests

SensoDat is a dataset of self-driving car simulation data (**32,580 executed simulations** across 14 campaigns). The simulations were generated using state-of-the-art test generators (Frenetic, Frenetic-V, and AmbieGen) and executed in the BeamNG simulation environment.

### Dataset Overview

Concretely, the dataset contains:

- Simulation description data in **ASAM OpenDRIVE** format
- Trajectory logs for each execution
- Sensor data as time series of **81 simulated sensors/properties**
- Execution metadata (configuration, duration, validity, and predicted outcomes)
- PASS/FAIL results based on the OOB (Out-of-Bounds) safety metric

The recorded sensor streams include vehicle dynamics and control signals such as RPM, wheel speed, throttle and brake input, brake temperatures, steering signals, transmission states, ABS/ESC activity, and many more.

### Scale & Storage

- **32,580 total simulation executions**
- **81 sensors per test case**
- **3.34 GB** of structured data
- Stored in **MongoDB** for efficient querying and large-scale analysis

All data was collected from high-fidelity soft-body physics simulations, enabling realistic vehicle dynamics representation without requiring researchers to re-execute computationally expensive simulation campaigns.

### Research Applications

SensODAT supports research in:

- AI and machine learning for autonomous systems
- Regression testing and test prioritization
- Simulation flakiness analysis
- Safety validation and fault detection
- Reproducibility and benchmarking in simulation-based SDC testing

### Reference

- Original paper: https://dl.acm.org/doi/10.1145/3643991.3644891
-
## Associated Paper
```{bibtex}
@inproceedings{sensodat,
author = {Christian Birchler and
Cyrill Rohrbach and
Timo Kehrer and
Sebastiano Panichella},
title = {SensoDat: Simulation-based Sensor Dataset of Self-driving Cars},
booktitle = {21th {IEEE/ACM} International Conference on Mining Software Repositories,
{MSR} 2024, Lisbon, Portugal, April 15-16, 2024},
year = {2024},
doi = {to appear},
}

@article{sensodat-preprint,
author = {Christian Birchler and
Cyrill Rohrbach and
Timo Kehrer and
Sebastiano Panichella},
title = {SensoDat: Simulation-based Sensor Dataset of Self-driving Cars},
journal = {CoRR},
volume = {abs/2401.09808},
year = {2024},
url = {https://doi.org/10.48550/arXiv.2401.09808},
doi = {10.48550/ARXIV.2401.09808},
eprinttype = {arXiv},
eprint = {2401.09808},
}
```

## Requirements
You need to have [Docker](https://docker.com) installed and running.

NOTE: The following instructions were tested with Windows and Linux with 32GB RAM.

## Automatic setup
To set up a MongoDB with the SDC simulation data, ensure `Docker` is up and running.
Then simply execute the `setup.sh` (Linux/MacOS) or `setup.bat` (Windows) script.

## Automatic clean up
To tear down the database simply execute the `cleanup.sh` (Linux/MacOS) or `cleanup.bat` (Windows) script.

## Manual setup
Run the following commands in the exact order to setup the database:

Start an `uploader` and a `mongo` container:
````
docker compose -f ./environment/docker-compose.yml up -d --build
````

Verify the containers are up and running:
````
docker ps
````

Copy the data to the `uploader` container:
````
docker cp ./data uploader:/app/data
````

Unzip the data in the `uploader` container:
````
docker exec uploader unzip ./data/data.zip -d ./data
````

Copy the code to upload the data to the `mongo` container:
````
docker cp ./code uploader:/app/code
````

Upload the data to the `mongo` container:
````
docker exec -it uploader python ./code/fill_mongodb.py
````

To tear down the database when you don't need it anymore:
````
docker compose -f ./environment/docker-compose.yml up down
````

## License
```{text}
SensoDat: Simulation-based Sensor Dataset of Self-driving Cars
Copyright (C) 2024 Christian Birchler & Sebastiano Panichella (AI4I - The Italian Institute of Artificial Intelligence for Industry, [e-mail])

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
```