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Downloading the Argoverse 2 Datasets

Our datasets are available for download from AWS S3. For the best experience, we highly recommend using the open-source s5cmd tool to transfer the data to your local filesystem (additional info available here). Please note that an AWS account is not required to download the datasets.

Installing s5cmd

s5cmd can be easily installed with the following script:

#!/usr/bin/env bash

export INSTALL_DIR=$HOME/.local/bin
export PATH=$PATH:$INSTALL_DIR
export S5CMD_URI=https://github.com/peak/s5cmd/releases/download/v1.4.0/s5cmd_1.4.0_$(uname | sed 's/Darwin/macOS/g')-64bit.tar.gz

mkdir -p $INSTALL_DIR
curl -sL $S5CMD_URI | tar -C $INSTALL_DIR -xvzf - s5cmd

Note that it will install s5cmd in your local bin directory. You can always change the path if you prefer installing it in another directory.

Downloading Datasets

Once s5cmd is installed installed, downloading a dataset is as easy as running the following (using the sensor dataset as an example):

s5cmd --no-sign-request cp s3://argoai-argoverse/av2/sensor/* target-directory

The command will download all S3 objects to the target directory (for example, target-directory can be /home/av2/sensors/). Given the size of the dataset, it might take a couple of hours depending on the network connectivity.

When the download is finished, the dataset is ready to use!

Dataset S3 Locations

s3://argoai-argoverse/av2/sensor/
s3://argoai-argoverse/av2/lidar/
s3://argoai-argoverse/av2/motion-forecasting/
s3://argoai-argoverse/av2/tbv/