| # 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. |
|
|
