The rapid advancement of deep learning has intensified the need for comprehensive data for use by autonomous driving algorithms. High-quality datasets are crucial for the development of effective data-driven autonomous driving solutions. Next-generation autonomous driving datasets must be multimodal, incorporating data from advanced sensors that feature extensive data coverage, detailed annotations, and diverse scene representation. To address this need, we present OmniHD-Scenes, a large-scale multimodal dataset that provides comprehensive omnidirectional high-definition data. The OmniHD-Scenes dataset combines data from 128-beam LiDAR, six cameras, and six 4D imaging radar systems to achieve full environmental perception. The dataset comprises 1501 clips, each approximately 30-s long, totaling more than 450 K synchronized frames and more than 5.85 million synchronized sensor data points. We also propose a novel 4D annotation pipeline. To date, we have annotated 200 clips with more than 514 K precise 3D bounding boxes. These clips also include semantic segmentation annotations for static scene elements. Additionally, we introduce a novel automated pipeline for generation of the dense occupancy ground truth, which effectively leverages information from non-key frames. Alongside the proposed dataset, we establish comprehensive evaluation metrics, baseline models, and benchmarks for 3D detection and semantic occupancy prediction. These benchmarks utilize surround-view cameras and 4D imaging radar to explore cost-effective sensor solutions for autonomous driving applications. Extensive experiments demonstrate the effectiveness of our low-cost sensor configuration and its robustness under adverse conditions.

Document content extraction is a critical task in computer vision, underpinning the data needs of large language models (LLMs) and retrieval-augmented generation (RAG) systems. Despite recent progress, current document parsing methods have not been fairly and comprehensively evaluated due to the narrow coverage of document types and the simplified, unrealistic evaluation procedures in existing benchmarks. To address these gaps, we introduce OmniDocBench, a novel benchmark featuring high-quality annotations across nine document sources, including academic papers, textbooks, and more challenging cases such as handwritten notes and densely typeset newspapers. OmniDocBench supports flexible, multi-level evaluations—ranging from an end-to-end assessment to the task-specific and attribute-based analysis—using 19 layout categories and 15 attribute labels. We conduct a thorough evaluation of both pipeline-based methods and end-to-end vision-language models, revealing their strengths and weaknesses across different document types. OmniDocBench sets a new standard for the fair, diverse, and fine-grained evaluation in document parsing. Dataset and code are available at https://github.com/opendatalab/OmniDocBench.