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LICENSE

@@ -0,0 +1,37 @@
+SynFlow-4k Dataset License
+============================
+
+Copyright (c) 2026 Qingwen Zhang and contributors
+
+The SynFlow-4k dataset and model checkpoints trained exclusively on SynFlow-4k
+are licensed under the Creative Commons Attribution 4.0 International License.
+
+You are free to:
+  - Share — copy and redistribute the material in any medium or format
+  - Adapt — remix, transform, and build upon the material for any purpose,
+    even commercially
+
+Under the following terms:
+  - Attribution — You must give appropriate credit, provide a link to the
+    license, and indicate if changes were made. You may do so in any reasonable
+    manner, but not in any way that suggests the licensor endorses you or
+    your use.
+
+Full license text: https://creativecommons.org/licenses/by/4.0/legalcode
+
+Third-Party Acknowledgment
+==========================
+
+This dataset was generated using the CARLA simulator (https://carla.org/).
+  - CARLA code: MIT License
+  - CARLA digital assets (maps, buildings, vehicles, etc.): CC BY License
+
+When using this dataset, please cite both SynFlow and CARLA (see README.md).
+
+Mixed Checkpoints
+=================
+
+Checkpoints trained on SynFlow-4k combined with real-world datasets
+(e.g. Argoverse 2, Waymo Open Dataset, nuScenes) are NOT covered by this
+license. Those checkpoints remain subject to the respective dataset terms
+of use.

README.md

@@ -13,25 +13,26 @@ language:
   - en
 configs:
   - config_name: 1k
+    default: true
     data_files:
       - split: train
-        path: "train/town-06-07-10/*"
+        path: "town-06-07-10/*"
   - config_name: 2k
     data_files:
       - split: train
-        path: "train/town-01-05/*"
+        path: "town-01-05/*"
   - config_name: 3k
     data_files:
       - split: train
         path:
-          - "train/town-06-07-10/*"
-          - "train/town-01-05/*"
+          - "town-06-07-10/*"
+          - "town-01-05/*"
   - config_name: 4k
     data_files:
       - split: train
         path:
-          - "train/town-01-05/*"
-          - "train/town-12/*"
+          - "town-01-05/*"
+          - "town-12/*"
 ---
 
 SynFlow: Scaling Up LiDAR Scene Flow Estimation with Synthetic Data
@@ -41,7 +42,7 @@ SynFlow: Scaling Up LiDAR Scene Flow Estimation with Synthetic Data
 [![page](https://img.shields.io/badge/Project-Page-green)](https://kin-zhang.github.io/SynFlow)
 
 The SynFlow dataset is a synthetic LiDAR scene flow benchmark collected using the [CARLA](https://carla.org/) simulator, and is formatted for seamless compatibility with [OpenSceneFlow](https://github.com/KTH-RPL/OpenSceneFlow). 
-We provide both the full dataset and [two pretrained model checkpoints](model-ckpt/) (one trained on the SynFlow-4k dataset, and another on SynFlow-4k augmented with real-world data; both are trained with [*DeltaFlow* backbone](https://github.com/Kin-Zhang/DeltaFlow)) to support further research and development by the community. 
+We provide both the full dataset and [two pretrained model checkpoints](model-ckpt/) (one trained on the SynFlow-4k dataset, and another on SynFlow-4k augmented with real-world data; both are trained with [*DeltaFlow* backbone](https://github.com/Kin-Zhang/DeltaFlow)) to support further research and development by the community. Check [licenses](#license) for more detail usage.
 
 <p align="center">
   <img alt="synflow_cover" src="https://kin-zhang.github.io/SynFlow/assets/images/cover.png" />
@@ -71,7 +72,6 @@ model-ckpt/
 
 routes-xml/ # generate from our code, check: https://github.com/Kin-Zhang/SynFlow
 ├── town01.xml
-├── town02.xml
 ├── ...
 └── town12.xml
 ```
@@ -81,11 +81,11 @@ routes-xml/ # generate from our code, check: https://github.com/Kin-Zhang/SynFlo
 Here is the data split presented in our SynFlow paper Tab. 1, with the folder name and composition.
 
 | Split | # Annotated Frames | Folder Name | Composition | Storage Size (GB) |
-|:---:|:---:|:---:|:---:|
+|:---:|:---:|:---:|---|:---:|
 | 1k | 271, 148 | `town-06-07-10` | Town06, 07, 10 arterials, complex junctions, rural roads | 214G |
 | 2k | 449,407 | `town-01-05` | Town01–05 roundabouts, multi-lane intersections | 419G |
 | 3k | 720,555 | `town-06-07-10` + `town-01-05` | Town06-07-10, Town01-05 | 633G |
-| 4k | 939,083 | `town-01-05` + `town-12` | Town01-05, Town12 | TODO |
+| 4k | 939,083 | `town-01-05` + `town-12` | Town01-05, Town12 | 986G |
 
 **Command for Download**
 
@@ -98,19 +98,11 @@ hf download KTH/SynFlow --repo-type dataset --include "town-06-07-10/*" --local-
 ```
 
 
-**File Naming Convention**
-
-```
-scene-{town_id}{channels}{route_id:04d}{scene_split:02d}.h5
-```
-
-| Field | Description | Example |
-|---|---|---|
-| `town_id` | CARLA map ID (digits only) | `01`, `12` |
-| `channels` | LiDAR beam count | `32`, `64` |
-| `route_id` | 4-digit route index within the town | `0042` |
-| `scene_split` | 2-digit split index when a long route is divided | `00`, `01`, … |
-
+**File Naming Convention**: `scene-{town_id}{channels}{route_id:04d}{scene_split:02d}.h5`,  
+where `town_id` is the CARLA town number (e.g. `01`, `12`),  
+`channels` is LiDAR beam count (`32`, `64`),  
+`route_id` is a 4-digit route index (e.g. `0042`),  
+and `scene_split` is a 2-digit split for long routes (`00`, `01`, etc).
 **Example:** `scene-0164004200.h5` → Town01, 64-beam LiDAR, route 42, split 0. Scenes with fewer than 120 valid frames are discarded during collection.
 
 
@@ -234,7 +226,7 @@ CARLA uses a left-handed coordinate system (LHS). All stored data is converted t
 
 ## Citation
 
-If you use this dataset, please cite our papers and acknowledge the CARLA simulator:
+If you use this dataset, please cite our papers (datasets and models), more works on [OpenSceneFlow](https://github.com/KTH-RPL/OpenSceneFlow#cite-us).
 
 ```bibtex
 @article{zhang2026synflow,
@@ -250,18 +242,10 @@ If you use this dataset, please cite our papers and acknowledge the CARLA simula
   year={2025},
   url={https://openreview.net/forum?id=T9qNDtvAJX}
 }
-@inproceedings{dosovitskiy2017carla,
-  title={CARLA: An open urban driving simulator},
-  author={Dosovitskiy, Alexey and Ros, German and Codevilla, Felipe and Lopez, Antonio and Koltun, Vladlen},
-  booktitle={Conference on robot learning},
-  pages={1--16},
-  year={2017},
-  organization={PMLR}
-}
 ```
 
 ## License
 
 - **SynFlow-4k dataset** and checkpoints trained **only** on SynFlow-4k (e.g. `synflow-4k-longadp.ckpt`) are released under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/). You are free to share, adapt, and use them for any purpose, including commercial use, as long as you provide appropriate credit (see [Citation](#citation)).
-- This dataset was generated using the [CARLA](https://carla.org/) simulator. CARLA code is distributed under the [MIT License](https://github.com/carla-simulator/carla/blob/master/LICENSE); CARLA digital assets (maps, buildings, vehicles, etc.) are distributed under [CC BY](https://creativecommons.org/licenses/by/4.0/). Please cite CARLA when using this data.
-- Checkpoints trained on SynFlow-4k **plus** real-world datasets (e.g. `synflow-real-longadp.ckpt`) remain subject to [Argoverse 2](https://www.argoverse.org/about.html#terms-of-use), [Waymo Open Dataset](https://waymo.com/open/terms/), and [nuScenes](https://www.nuscenes.org/terms-of-use) licenses. Please refer to the respective licenses for more details.
+- This dataset was generated using the [CARLA](https://carla.org/) simulator. CARLA code is distributed under the [MIT License](https://github.com/carla-simulator/carla/blob/master/LICENSE); CARLA digital assets (maps, buildings, vehicles, etc.) are distributed under [CC BY](https://creativecommons.org/licenses/by/4.0/).
+- Checkpoints trained on SynFlow-4k **plus** real-world datasets (e.g. `synflow-real-longadp.ckpt`) remain subject to [Argoverse 2](https://www.argoverse.org/about.html#terms-of-use), [Waymo Open Dataset](https://waymo.com/open/terms/), and [nuScenes](https://www.nuscenes.org/terms-of-use) licenses. Note that checkpoints trained on real-world datasets are **not** available for commercial use because of the restrictions of the real-world datasets. Please refer to the respective licenses for more details.

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