# NuPlan mini sample (VADv2-ready)

This dataset contains a single NuPlan mini log converted into the VADv2 training/evaluation format.

## Contents

```
nuplan_data/
  maps/                              # Full NuPlan map bundle (gpkg, npy, json)
  nuplan-v1.1/
    sensor_blobs/2021.05.12.22.00.38_veh-35_01008_01518/
        CAM_* folders + MergedPointCloud/   # Cameras and fused lidar frames
    splits/
        mini/2021.05.12.22.00.38_veh-35_01008_01518.db   # Mini split SQLite DB
converted_data/
  2021.05.12.22.00.38_veh-35_01008_01518.pkl            # Raw converter output
  us-nv-las-vegas-strip_map.json                         # Converted map JSON
annotations/
  2021.05.12.22.00.38_veh-35_01008_01518_infos.pkl      # VADv2-ready info dict
  us-nv-las-vegas-strip_map.json                         # Copy of map JSON
```

The `annotations/*.pkl` file can be plugged directly into
`adzoo/vad/configs/VAD/VADv2_voca4096_mini_config.py` after setting `data_root` to
`data/nuplan/dataset`.

## Provenance & Conversion

- Source: `motional-nuplan/public/nuplan-v1.1/` on AWS S3 (mini split).
- Conversion: [`Nuplan-VAD-DataGen`](https://github.com/priest-yang/Nuplan-VAD-DataGen)
  executed in a Python 3.10 environment.
- Only the log `2021.05.12.22.00.38_veh-35_01008_01518` is fully materialised (cameras + lidar).

## Notes

- Map annotations (`annotations/us-nv-las-vegas-strip_map.json`) are provided in both
  the original converter output and the `annotations` directory.
- The `maps/` directory includes the full NuPlan map bundle so that map APIs work
  without additional downloads.
- The camera folders (8x CAM_*) are included. Due to the Hub's per-directory limit (10k files), the `MergedPointCloud` lidar frames are **not** part of this snapshot; the paths remain in the annotations so you can drop the original files into `nuplan_data/nuplan-v1.1/sensor_blobs/2021.05.12.22.00.38_veh-35_01008_01518/MergedPointCloud/` if you need them.
- The mini split SQLite DB is the only one required for this log; additional DB files from the
  mini bundle are not included to keep the footprint small (~37 GB total).

## Usage

1. Download the dataset and place it under your project root.
2. Point `data_root` / `ann_file_*` in the VADv2 config to the paths above.
3. Ensure the environment uses NumPy ≥ 2.0 to read the pickled infos (or add a compatibility shim).

```
python adzoo/vad/test.py \
  adzoo/vad/configs/VAD/VADv2_voca4096_mini_config.py \
  ckpts/VADv2_checkpoint.pth \
  --launcher none --eval bbox --json_dir test/mini_eval
```

## License

- NuPlan data is subject to the Motional NuPlan license.
- Converted artifacts are provided for research purposes only.