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name: visualization-and-submission description: "Guide NAVSIM camera, BEV, and LiDAR visualization plus safe two-stage submission pickle preparation and local validation." disable-model-invocation: true metadata: disco-role: operating license: Apache 2.0

Visualization and submission

Use this route for NAVSIM scene plots, sensor overlays, GIFs, or a locally validated warmup/challenge submission.pkl.

Read this when

• the task mentions plot_bev_frame, camera grids, annotations, LiDAR overlays, custom plots, or GIF rendering
• a user needs the submission pickle schema or metadata checks
• the workflow is warmup_two_stage or the authorized private private_test_hard_two_stage challenge path

Start here

1. Read visualization.md for scene loading, plotting entry points, sensor prerequisites, and custom overlays.
2. Read submission.md before creating a pickle; it defines the stage containers, required metadata, parity rules, and the private-data boundary.
3. Read troubleshooting.md for dependency, path, Hydra, plotting, and submission failures.
4. Run the bundled submission metadata validator on a trusted local pickle: python scripts/validate_submission_metadata.py --help, then python scripts/validate_submission_metadata.py path/to/submission.pkl.

Operating rules

• Visualization needs a loaded Scene, sensor blobs, calibration, and a map API for map layers; API/help checks do not need local data.
• Submission evaluation receives only AgentInput. The selected agent must have requires_scene=False; a privileged agent that needs Scene or annotations must stop before generation.
• Validate locally, but do not download data, train, run a benchmark, or upload a Hugging Face model as part of this route. Stop and ask for explicit authorization before any external/private operation.
• Use the same split and metric-cache path for warmup local evaluation and compare parity only after the local inputs are present. A valid pickle does not prove server acceptance or score parity.

Ownership boundaries

This route owns plotting and pickle preparation/validation. Route installation, data layout, sensor contracts, agent implementation, and EPDMS scoring to the corresponding NAVSIM skills; use the links in the references when composing a larger workflow.