# Data

The paper uses front-RGB image sequences from CARLA/MILE/Roach Town01 at 15 FPS. Source frames are external and are not redistributed in this repository.

## Expected Source Frame Layout

The clip-bank builder expects image files named:

```text
image_XXXXXXXXX.png
```

where `XXXXXXXXX` is a zero-padded frame index. The source manifests refer to folders such as:

```text
${GENPD_DATA_ROOT}/Town01/0000/image
${GENPD_DATA_ROOT}/Town01/0001/image
${GENPD_DATA_ROOT}/Town01/0002/image
```

Set:

```bash
export GENPD_DATA_ROOT=/path/to/carla_mile_roach_frames
```

before building clip banks from source images.

## Rollout Protocol

All paper clips use:

- 9 conditioning frames
- 8 future ground-truth frames
- 17 total frames
- 15 FPS

The generated clip bank stores separate `conditioning.mp4` and `ground_truth.mp4` files for each clip.

## Original N=5 Selection

Source manifest:

```text
manifests/clips/clip_sources.yaml
```

Frozen generated manifests:

```text
manifests/clips/clip_manifest.csv
manifests/clips/clip_manifest.json
```

This selection contains 5 logical Town01 clips and 2 target resolutions:

- 256x160
- 512x320

The frozen generated manifest therefore has 10 rows.

## Expanded N=30 Selection

Source manifest:

```text
manifests/clips/clip_sources_vtc_n30.yaml
```

Frozen generated manifests:

```text
manifests/clips/vtc_n30/clip_manifest.csv
manifests/clips/vtc_n30/clip_manifest.json
```

The N=30 validation contains:

- 3 Town01 source sequences
- 10 non-overlapping clips per source sequence
- 30 clips total
- 512x320 only

The selection is deterministic and independent of model performance. The exact sequence IDs, starts, frame counts, and notes are in the source manifest.

## Source Manifests vs Frozen Generated Manifests

Source manifests define external source-frame locations, clip starts, frame counts, FPS, and target resolutions.

Frozen generated manifests record the exact paper clip IDs and generated clip-bank paths used by matrix generation. They are included as provenance and validation inputs.

## Build Clip Banks

Original N=5 clip bank:

```bash
export GENPD_DATA_ROOT=/path/to/carla_mile_roach_frames

python -m src.cli.main build-clip-bank \
  --config manifests/clips/clip_sources.yaml \
  --clip-bank-root clip_bank \
  --manifests-root manifests/clips
```

Expanded N=30 clip bank:

```bash
export GENPD_DATA_ROOT=/path/to/carla_mile_roach_frames

python -m src.cli.main build-clip-bank \
  --config manifests/clips/clip_sources_vtc_n30.yaml \
  --clip-bank-root clip_bank/vtc_n30 \
  --manifests-root manifests/clips/vtc_n30
```

Generated clip-bank MP4s are local artifacts and are gitignored.

## What Is Not Included

This repository does not include:

- source CARLA/MILE/Roach image frames
- generated clip-bank MP4s
- prediction MP4s
- full result trees