NuPlan Mini Autonomous Driving Log In VADv2 Format

Presenting a single log from the NuPlan autonomous driving dataset, converted into the VADv2 training and evaluation format. It contains sensor data including camera images and fused LiDAR point clouds, alongside a map bundle and a SQLite database for the mini split.

Use Cases

• Fine-tune a VADv2-compatible model on the provided camera images (CAM_*) and fused LiDAR point clouds (MergedPointCloud).
• Use the map bundle (gpkg, npy, json files) for localization and planning tasks within the single log scenario.
• Validate perception algorithms using the synchronized sensor data from the 2021.05.12.22.00.38_veh-35_01008_01518 log.

Strengths

• Contains a full NuPlan map bundle for spatial context.
• Provides sensor data from cameras and fused LiDAR in a format ready for VADv2 model development.

Limitations

• Contains only a single driving log, offering limited scenario diversity for training.
• The dataset is a sample derived from a larger benchmark, not a complete training set.

Provenance

Source

Derived from the NuPlan autonomous driving dataset.

Collection Method

A single NuPlan log was converted into the VADv2 format.

Time Range

The log timestamp is 2021.05.12.22.00.38.

Freshness

The dataset was last updated on 2025-09-25.