The dataset viewer is not available for this dataset.
Error code: JWTInvalidSignature
Exception: InvalidSignatureError
Message: Signature verification failed
Traceback: Traceback (most recent call last):
File "/src/libs/libapi/src/libapi/jwt_token.py", line 286, in validate_jwt
decoded = jwt.decode(
jwt=token,
...<2 lines>...
options=options,
)
File "/usr/local/lib/python3.14/site-packages/jwt/api_jwt.py", line 368, in decode
decoded = self.decode_complete(
jwt,
...<8 lines>...
leeway=leeway,
)
File "/usr/local/lib/python3.14/site-packages/jwt/api_jwt.py", line 265, in decode_complete
decoded = self._jws.decode_complete(
jwt,
...<3 lines>...
detached_payload=detached_payload,
)
File "/usr/local/lib/python3.14/site-packages/jwt/api_jws.py", line 270, in decode_complete
self._verify_signature(
~~~~~~~~~~~~~~~~~~~~~~^
signing_input,
^^^^^^^^^^^^^^
...<4 lines>...
options=merged_options,
^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/jwt/api_jws.py", line 417, in _verify_signature
raise InvalidSignatureError("Signature verification failed")
jwt.exceptions.InvalidSignatureError: Signature verification failedNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
comma 1M
A large self-driving dataset containing one-minute driving segments with road-camera video, and full localization data.
Dataset collection
Segments were recorded by comma devices installed in real user vehicles. The collection spans several hardware generations (comma two, comma three, comma 3X, and comma four)
Camera systems vary between generations, so native resolution and field of view are not uniform across the dataset.
Each segment includes an offline localization estimate in localizer.safetensors. It fuses raw GNSS measurements, accelerometer and gyroscope data, vehicle motion constraints, and visual feature tracks from the road cameras.
Structure
data/
└── <segment_id>/
├── fcamera.hevc
├── ecamera.hevc (for segments collected using hardware type >= comma three)
├── thumbnail.jpg
└── localizer.safetensors
Example usage
import numpy as np
import plotly.graph_objects as go
from huggingface_hub import hf_hub_download
from safetensors.numpy import load_file
from pymap3d import ecef2geodetic
from PIL import Image
segment_id = "001774ef60cf6c43657cd317035fae58"
thumbnail_path = hf_hub_download(
repo_id="commaai/comma1M", repo_type="dataset",
filename=f"data/{segment_id}/thumbnail.jpg",
)
Image.open(thumbnail_path).show()
localizer_path = hf_hub_download(
repo_id="commaai/comma1M", repo_type="dataset",
filename=f"data/{segment_id}/localizer.safetensors",
)
states = load_file(localizer_path)["states"]
latitude, longitude, _ = ecef2geodetic(*states[:, :3].T)
speed = np.linalg.norm(states[:, 7:10], axis=1)
fig = go.Figure()
fig.add_trace(go.Scattermap(lat=latitude[::10], lon=longitude[::10],
mode="lines+markers", line={"color": "#ff4d4d", "width": 3},
marker={"size": 6,"color": speed[::10],"colorscale": "Turbo","colorbar": {"title": "speed (m/s)"}}))
# span and zoom for map
span = max(float(np.ptp(latitude)), float(np.ptp(longitude)), 1e-6)
zoom = float(np.clip(np.log2(360.0 / span) - 1., 1, 18))
fig.update_layout(map={"style": "open-street-map","center": {"lat": float(np.mean(latitude)), "lon": float(np.mean(longitude))},"zoom": zoom},
legend={"orientation": "h", "x": 0.01, "y": 0.01},
)
fig.show()
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