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name: config-and-model-architecture description: "Explain UniAD config variants, plugin registration, public model components, and task-head relationships." disable-model-invocation: true metadata: disco-role: operating license: Apache 2.0

Config and Model Architecture

Use this sub-skill when the question is about choosing, editing, or comparing UniAD configs, understanding which model component owns a task, or diagnosing a BEV encoder swap or registry problem.

Read first

• references/config-reference.md for the three public config families, queue lengths, checkpoints, and plugin fields.
• references/model-architecture.md for the detector/head ownership map and task flow.
• references/api-reference.md for verified constructor signatures and key call contracts.
• references/troubleshooting.md for import, memory, anchor, BEV swap, and planning-metric failures.
• scripts/summarize_uniad_config.py for a safe one-file config summary.

Covers

• BEVFormer base, stage 1 track/map, and stage 2 end-to-end configs.
• plugin = True / plugin_dir and the projects.mmdet3d_plugin import root.
• Verified public classes: UniAD, UniADTrack, BEVFormerHead, BEVFormerTrackHead, PansegformerHead, MotionHead, OccHead, and PlanningHeadSingleMode.
• Queue length, load_from, freeze flags, and task-loss ownership.
• Planning metric ambiguity and the planning_evaluation_strategy switch.
• BEV encoder replacement rules: preserve the bev_embed / bev_pos contract.

Do not cover

• Training or evaluation command construction → training-evaluation
• Dataset downloads or info generation → data-preparation
• Visual result interpretation or plotting → visualization-and-results

Use this when

• You need to pick the right UniAD config for an experiment.
• You need to explain why a stage is missing a head or a loss.
• You are diagnosing plugin, registry, or import failures tied to model construction.
• You need to identify which module owns a reported loss or output.
• You want a safe summary of a config file before editing it.

Output expectation

Lead with the minimal config or architecture answer, then cite the specific config field or class contract that justifies it.