Feat: Unified Scene Data Flow#56

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WCJ-BERT wants to merge 17 commits into

NVlabs:mainfrom

WCJ-BERT:adapt_to_new_runtime

Commits on Apr 24, 2026

feat: add SceneDataSource protocol and DataSourceConfig
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feat: implement TrajdataDataSource for direct trajdata loading
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refactor!: migrate RuntimeContext to use scene_id_to_idx mapping
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feat: update DaemonEngine to support lazy scene loading
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feat: add prepare_data CLI for trajdata cache preprocessing
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feat: integrate SceneDataSource into worker and simulation flow
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refactor: improve coordinate frame variable naming
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test: update tests for trajdata data source migration

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docs(wizard): add trajdata documentation and wizard config

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fix: update copyright year to 2026 for new files
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refactor: improve configuration structure and validation

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refactor: simplify and clean up codebase

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refactor: add UnifiedDataset to RuntimeContext to avoid duplication
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refactor: encapsulate scene loading into SceneLoader class

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refactor: improve prepare_data code quality and unify preprocessing

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refactor: address PR review feedback for trajdata_data_source

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fix: align data_source config structure between YAML and DataSourceConfig schema
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