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README.md
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# NuPlan mini sample (VADv2-ready)
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This dataset contains a single NuPlan mini log converted into the VADv2 training/evaluation format.
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## Contents
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```
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nuplan_data/
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maps/ # Full NuPlan map bundle (gpkg, npy, json)
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nuplan-v1.1/
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sensor_blobs/2021.05.12.22.00.38_veh-35_01008_01518/
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CAM_* folders + MergedPointCloud/ # Cameras and fused lidar frames
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splits/
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mini/2021.05.12.22.00.38_veh-35_01008_01518.db # Mini split SQLite DB
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converted_data/
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2021.05.12.22.00.38_veh-35_01008_01518.pkl # Raw converter output
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us-nv-las-vegas-strip_map.json # Converted map JSON
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annotations/
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2021.05.12.22.00.38_veh-35_01008_01518_infos.pkl # VADv2-ready info dict
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us-nv-las-vegas-strip_map.json # Copy of map JSON
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```
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The `annotations/*.pkl` file can be plugged directly into
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`adzoo/vad/configs/VAD/VADv2_voca4096_mini_config.py` after setting `data_root` to
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`data/nuplan/dataset`.
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## Provenance & Conversion
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- Source: `motional-nuplan/public/nuplan-v1.1/` on AWS S3 (mini split).
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- Conversion: [`Nuplan-VAD-DataGen`](https://github.com/priest-yang/Nuplan-VAD-DataGen)
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executed in a Python 3.10 environment.
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- Only the log `2021.05.12.22.00.38_veh-35_01008_01518` is fully materialised (cameras + lidar).
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## Notes
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- Map annotations (`annotations/us-nv-las-vegas-strip_map.json`) are provided in both
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the original converter output and the `annotations` directory.
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- The `maps/` directory includes the full NuPlan map bundle so that map APIs work
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without additional downloads.
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- The mini split SQLite DB is the only one required for this log; additional DB files from the
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mini bundle are not included to keep the footprint small (~37 GB total).
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## Usage
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1. Download the dataset and place it under your project root.
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2. Point `data_root` / `ann_file_*` in the VADv2 config to the paths above.
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3. Ensure the environment uses NumPy ≥ 2.0 to read the pickled infos (or add a compatibility shim).
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```
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python adzoo/vad/test.py \
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adzoo/vad/configs/VAD/VADv2_voca4096_mini_config.py \
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ckpts/VADv2_checkpoint.pth \
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--launcher none --eval bbox --json_dir test/mini_eval
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```
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## License
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- NuPlan data is subject to the Motional NuPlan license.
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- Converted artifacts are provided for research purposes only.
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