---

name: data-preparation description: "Prepare and validate UniAD nuScenes, CAN bus, map, info-PKL, and motion-anchor data layout without launching training or evaluation." disable-model-invocation: true metadata: disco-role: operating license: Apache 2.0

UniAD data-preparation router

Use this sub-skill when the user needs to prepare, validate, or troubleshoot the data assets required by UniAD on nuScenes:

• raw nuScenes layout under data/nuscenes/, including CAN bus and map extensions;
• temporal info PKLs under data/infos/;
• the stage-2/E2E motion-anchor file under data/others/;
• safe command synthesis for UniAD's nuScenes info generation workflow.

Do not launch training, evaluation, visualization, or model editing from here.

Route boundaries

• Training, evaluation, checkpoint, GPU, distributed, or SLURM launch questions: route to training-evaluation.
• Model/config architecture, task heads, queue lengths, plugin classes, or registry questions: route to config-and-model-architecture.
• Result pickle interpretation, rendering, videos, or visualization commands: route to visualization-and-results.

Operating procedure

1. Identify the intended split/version: full v1.0 trainval/test, trainval-only, test-only, or v1.0-mini.
2. Identify the intended UniAD stage: BEVFormer/stage-1 versus stage-2/E2E. Stage-2/E2E requires data/others/motion_anchor_infos_mode6.pkl.
3. Validate the local layout with scripts/check_uniad_data_layout.py before constructing train/eval commands elsewhere.
4. If info PKLs must be generated, synthesize the command with scripts/build_data_command.py; do not run a full conversion unless the user has confirmed the raw nuScenes/CAN bus/map assets and runtime dependencies are present.
5. Warn users that generated PKLs can embed root-prefixed paths. If a generated PKL stores paths such as data/nuscenes/... or absolute dataset paths, the active UniAD config may need data_root = "" instead of the default data_root = "data/nuscenes/".

Bundled references

• references/data-preparation.md — layout, download choices, info-generation command semantics, and config path cautions.
• references/data-formats.md — expected PKL, CAN bus, map, raw-sensor, and motion-anchor contents.
• references/troubleshooting.md — symptoms and fixes for missing directories, missing PKLs, motion anchors, root-path mismatches, network/download limits, and split confusion.

Bundled scripts

• scripts/check_uniad_data_layout.py — self-contained dry validation of the expected data layout and common PKL path-root risk.
• scripts/build_data_command.py — self-contained dry command renderer adapted from UniAD's data conversion wrapper semantics.