Trajectory Data Only

[ziqipang]

Thanks for the nice work!

I am new to planning and nuplan, and is curious about how to download the proper data given my objective?

Specifically, I want to focus on the planning problem only (without the sensor data involved). However, I found that the data in the train/val split are extremely large (> 100GB). Therefore, I am wondering:

• Is the train/val split only containing the trajectory data since they are uncommonly large?
• If I only want to download the trajectory data, is it possible?

Thank you again for your help!

[ZikangXiong]

Hope this can help.

It seems that if you do not need sensor data, you can download these DB files only. These will take several TBs, which are quite common among these real world datasets.

Some previous works have proposed smaller benchmarks, for example https://github.com/autonomousvision/tuplan_garage/tree/main/tuplan_garage/planning/script/config/common/scenario_filter However, to reuse these splits, you still need to download all the DB files.

[ziqipang]

@ZikangXiong Thank you! I will try out your solution. It is just hard to believe that some trajectory data will take up to several TBs, since image data at the level of ImageNet is just~100GB. But anyway, thanks for your help!

[Zhenlin-Xu]

Hi!

Do you find out how to extract the trajectories efficiently?

I am trying to extract the ego vehicle's trajectories (center.x and center.y of the vehicle at each time instant) using the NuPlanScenario.get_future_ego_trajectory(). But the query is so slow. This method uses the execute_many() to retrieve multiple rows already, but it still takes a lot of time even on the mini dataset.

Thanks in advance!