Telkwevr/Bench2Drive-VL-base
Bench2Drive-VL: Full-Stack Software for Closed-Loop Autonomous Driving with Vision Language Models Project Page | GitHub | Paper Bench2Drive-VL is a comprehensive closed-loop benchmark for Vision-Language Models in Autonomous Driving (VLM4AD). It extends the Bench2Drive benchmark by introducing closed-loop evaluation and the DriveCommenter expert model for automated annotation. This repository contains the natural language annotations for the Bench2Drive-Base1000 dataset. These… See the full description on the dataset page: https://huggingface.co/datasets/Telkwevr/Bench2Drive-VL-base.
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-1.7114 ]115 ]116 },117 "is_role": false,118 "is_dangerous": false,119 "obj_dict": {120 "class": "vehicle",121 "state": "dynamic",122 "id": "7096",123 "location": [124 7008.0966796875,125 -2498.95068359375,126 58.314456939697266127 ],128 "rotation": [129 0.29346588253974915,130 0.00019354901451151818,131 -131.8374481201172132 ],133 "bbx_loc": [134 -0.006288990378379822,135 2.30133537115762e-06,136 0.7488433122634888137 ],138 "center": [139 7008.103515625,140 -2498.943115234375,141 59.06325912475586142 ],143 "extent": [144 2.44619083404541,145 0.9183566570281982,146 0.7451388239860535147 ],148 "world_cord": [149 [150 7007.15869140625,151 -2501.375244140625,152 59.82091522216797153 ],154 [155 7007.1533203125,156 -2501.381103515625,157 58.33065414428711158 ],159 [160 7005.7900390625,161 -2500.150146484375,162 59.820919036865234163 ],164 [165 7005.78515625,166 -2500.156005859375,167 58.33066177368164168 ],169 [170 7010.421875,171 -2497.73046875,172 59.79585647583008173 ],174 [175 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0.7053293585777283362 ],363 "world_cord": [364 [365 7018.31396484375,366 -2480.466796875,367 59.6409797668457368 ],369 [370 7018.30859375,371 -2480.472412109375,372 58.23033905029297373 ],374 [375 7019.8291015625,376 -2481.822265625,377 59.64098358154297378 ],379 [380 7019.82421875,381 -2481.828125,382 58.2303466796875383 ],384 [385 7014.74169921875,386 -2484.459716796875,387 59.67021179199219388 ],389 [390 7014.73681640625,391 -2484.46533203125,392 58.25957489013672393 ],394 [395 7016.25732421875,396 -2485.815185546875,397 59.67021942138672398 ],399 [400 7016.251953125,401 -2485.821044921875,402 58.25958251953125403 ]404 ],405 "semantic_tags": [406 14407 ],408 "type_id": "vehicle.chevrolet.impala",409 "color": "0,0,0",410 "base_type": "car",411 "num_points": 20,412 "distance": 29.465718447150394,413 "speed": 1.9644565376581713,414 "brake": 1.0,415 "light_state": "131",416 "road_id": 187,417 "lane_id": -1,418 "section_id": 0,419 "world2vehicle": [420 [421 0.6667085289955139,422 0.7452985644340515,423 -0.005456778220832348,424 -2827.47705078125425 ],426 [427 -0.7453096508979797,428 0.6667184829711914,429 -2.634013071656227e-06,430 6885.6083984375431 ],432 [433 0.0036361715756356716,434 0.0040687453001737595,435 0.9999850988388062,436 -73.66067504882812437 ],438 [439 0.0,440 0.0,441 0.0,442 1.0443 ]444 ],445 "position": [446 29.450103076621417,447 -0.935744879277081,448 -0.24217241502901743449 ],450 "yaw": -0.034567032000901485,451 "color_rgb": null,452 "color_name": null,453 "lane_type": 2,454 "lane_type_str": "Driving",455 "is_in_junction": false,456 "junction_id": -1,457 "distance_to_junction": null,458 "next_junction_id": -1,459 "next_road_ids": [460 136461 ],462 "next_next_road_ids": [463 4550464 ],465 "same_road_as_ego": true,466 "same_direction_as_ego": true,467 "lane_relative_to_ego": 0,468 "steer": 0.00044022235672201774,469 "vehicle_cuts_in": false470 },471 "position": [472 29.450103076621417,473 -0.935744879277081,474 -0.24217241502901743475 ],476 "distance": 29.465718447150394,477 "speed": [478 29.450103076621417,479 -0.935744879277081,480 -0.24217241502901743481 ],482 "same_dir": true,483 "is_sign": false484 }485 },486 "QA": {487 "perception": [488 {489 "Q": "What are the important objects in the scene?",490 "A": "The important objects in the scene are the black car to the front left of the ego vehicle and the black car to the front of the ego vehicle.",491 "C": null,492 "qid": 18,493 "con_up": -1,494 "con_down": -1,495 "cluster": 0,496 "layer": 0,497 "object_tags": [498 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>",499 "<c7089<CAM_FRONT,762.8,498.5>>"500 ]501 },502 {503 "Q": "What are the important objects in the scene? List them from most to least important.",504 "A": "The black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>), the black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>).",505 "C": null,506 "qid": 19,507 "con_up": -1,508 "con_down": -1,509 "cluster": 0,510 "layer": 0,511 "object_tags": [512 "<c7089<CAM_FRONT,762.8,498.5>>",513 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>"514 ]515 },516 {517 "Q": "Where on the road is the black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) located?",518 "A": "The black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",519 "C": null,520 "qid": 20,521 "con_up": [522 [523 4,524 1525 ],526 [527 4,528 2529 ],530 [531 4,532 3533 ]534 ],535 "con_down": [536 [537 3,538 0539 ],540 [541 3,542 2543 ],544 [545 3,546 3547 ]548 ],549 "cluster": 4,550 "layer": 0,551 "object_tags": [552 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>"553 ]554 },555 {556 "Q": "Where on the road is the black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>) located?",557 "A": "The black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>) is on the same road driving on the lane of the ego vehicle.",558 "C": null,559 "qid": 20,560 "con_up": [561 [562 4,563 1564 ],565 [566 4,567 2568 ],569 [570 4,571 3572 ]573 ],574 "con_down": [575 [576 3,577 0578 ],579 [580 3,581 2582 ],583 [584 3,585 3586 ]587 ],588 "cluster": 4,589 "layer": 0,590 "object_tags": [591 "<c7089<CAM_FRONT,762.8,498.5>>"592 ]593 },594 {595 "Q": "What are the important vehicles in the scene and where on the road are they located? List them from most to least important.",596 "A": "The black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>), which is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle. The black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>), which is on the same road driving on the lane of the ego vehicle.",597 "C": null,598 "qid": 26,599 "con_up": [600 [601 4,602 3603 ]604 ],605 "con_down": [606 [607 4,608 0609 ]610 ],611 "cluster": 4,612 "layer": 1,613 "object_tags": [614 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>",615 "<c7089<CAM_FRONT,762.8,498.5>>"616 ]617 },618 {619 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>), the black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>).' Where on the road are they located?",620 "A": "The black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle. The black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>) is on the same road driving on the lane of the ego vehicle.",621 "C": null,622 "qid": 27,623 "con_up": [624 [625 4,626 3627 ]628 ],629 "con_down": [630 [631 4,632 0633 ]634 ],635 "cluster": 4,636 "layer": 1,637 "object_tags": [638 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>",639 "<c7089<CAM_FRONT,762.8,498.5>>"640 ]641 },642 {643 "Q": "Is the ego vehicle at a junction?",644 "A": "No, the ego vehicle is not at a junction.",645 "C": null,646 "qid": 35,647 "con_up": [648 [649 1,650 0651 ],652 [653 2,654 0655 ],656 [657 3,658 1659 ],660 [661 3,662 2663 ],664 [665 3,666 3667 ],668 [669 4,670 0671 ]672 ],673 "con_down": -1,674 "cluster": 3,675 "layer": 0,676 "object_tags": []677 },678 {679 "Q": "How many lanes are there in the same direction as the ego car?",680 "A": "There is one lane in the same direction.",681 "C": null,682 "qid": 34,683 "con_up": [684 [685 3,686 1687 ],688 [689 3,690 3691 ],692 [693 3,694 4695 ],696 [697 3,698 5699 ],700 [701 3,702 6703 ],704 [705 3,706 7707 ],708 [709 4,710 0711 ]712 ],713 "con_down": [714 [715 3,716 0717 ]718 ],719 "cluster": 3,720 "layer": 2,721 "object_tags": []722 },723 {724 "Q": "How many lanes are there in the opposite direction to the ego car?",725 "A": "There is one lane in the opposite direction.",726 "C": null,727 "qid": 34,728 "con_up": [729 [730 3,731 1732 ],733 [734 3,735 3736 ],737 [738 3,739 4740 ],741 [742 3,743 5744 ],745 [746 3,747 6748 ],749 [750 3,751 7752 ],753 [754 4,755 0756 ]757 ],758 "con_down": [759 [760 3,761 0762 ]763 ],764 "cluster": 3,765 "layer": 2,766 "object_tags": []767 },768 {769 "Q": "On which lane is the ego vehicle (left most lane of the lanes going in the same direction is indicated with 0)?",770 "A": "The ego vehicle is on lane 0.",771 "C": null,772 "qid": 33,773 "con_up": [774 [775 3,776 1777 ],778 [779 3,780 4781 ],782 [783 3,784 5785 ],786 [787 3,788 6789 ],790 [791 4,792 0793 ]794 ],795 "con_down": [796 [797 3,798 0799 ]800 ],801 "cluster": 3,802 "layer": 3,803 "object_tags": []804 },805 {806 "Q": "What lane marking is on the left side of the ego car?",807 "A": "The lane marking on the left side of the ego car is a yellow double solid lane.",808 "C": null,809 "qid": 32,810 "con_up": [811 [812 3,813 5814 ],815 [816 3,817 6818 ]819 ],820 "con_down": [821 [822 3,823 2824 ],825 [826 3,827 3828 ]829 ],830 "cluster": 3,831 "layer": 4,832 "object_tags": []833 },834 {835 "Q": "What lane marking is on the right side of the ego car?",836 "A": "There is no lane marking on the right side of the ego car.",837 "C": null,838 "qid": 32,839 "con_up": [840 [841 3,842 5843 ],844 [845 3,846 6847 ]848 ],849 "con_down": [850 [851 3,852 2853 ],854 [855 3,856 3857 ]858 ],859 "cluster": 3,860 "layer": 4,861 "object_tags": []862 },863 {864 "Q": "Describe the current lane's direction.",865 "A": "The current lane is going straight.",866 "C": null,867 "qid": 44,868 "con_up": -1,869 "con_down": -1,870 "cluster": 3,871 "layer": 6,872 "object_tags": []873 },874 {875 "Q": "Is the ego vehicle affected by a traffic light?",876 "A": "No, the ego vehicle is not affected by a traffic light.",877 "C": null,878 "qid": 5,879 "con_up": [880 [881 2,882 1883 ]884 ],885 "con_down": [886 [887 3,888 0889 ]890 ],891 "cluster": 2,892 "layer": 0,893 "object_tags": []894 },895 {896 "Q": "How many pedestrians are there?",897 "A": "There are no pedestrians.",898 "C": null,899 "qid": 1,900 "con_up": [901 [902 6,903 0904 ]905 ],906 "con_down": -1,907 "cluster": 5,908 "layer": 0,909 "object_tags": []910 },911 {912 "Q": "What is current time and weather?",913 "A": "It is noon, foggy.",914 "C": null,915 "qid": 37,916 "con_up": -1,917 "con_down": -1,918 "cluster": 3,919 "layer": 1,920 "object_tags": []921 },922 {923 "Q": "Is there an obstacle on the current road?",924 "A": "No, there is no obstacle on the current route.",925 "C": null,926 "qid": 11,927 "con_up": [928 [929 3,930 8931 ]932 ],933 "con_down": -1,934 "cluster": 3,935 "layer": 9,936 "object_tags": []937 },938 {939 "Q": "What is the current speed limit?",940 "A": "There's no speed limit now.",941 "C": null,942 "qid": 7,943 "con_up": [944 [945 6,946 0947 ]948 ],949 "con_down": [950 [951 3,952 2953 ]954 ],955 "cluster": 3,956 "layer": 7,957 "object_tags": []958 }959 ],960 "prediction": [961 {962 "Q": "Where is the black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) going?",963 "A": "The black car(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) is going straight.",964 "C": null,965 "qid": 17,966 "con_up": [967 [968 4,969 3970 ]971 ],972 "con_down": [973 [974 4,975 0976 ]977 ],978 "cluster": 4,979 "layer": 1,980 "object_tags": [981 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>"982 ]983 },984 {985 "Q": "What is the moving status of the black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>)?",986 "A": "The black car(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) is driving at a normal speed in the opposite direction of the ego vehicle.",987 "C": null,988 "qid": 16,989 "con_up": [990 [991 4,992 3993 ]994 ],995 "con_down": [996 [997 4,998 0999 ]1000 ],1001 "cluster": 4,1002 "layer": 2,1003 "object_tags": [1004 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>"1005 ]1006 },1007 {1008 "Q": "Where is the black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>) going?",1009 "A": "The black car(<c7089<CAM_FRONT,762.8,498.5>>) is going straight.",1010 "C": null,1011 "qid": 17,1012 "con_up": [1013 [1014 4,1015 31016 ]1017 ],1018 "con_down": [1019 [1020 4,1021 01022 ]1023 ],1024 "cluster": 4,1025 "layer": 1,1026 "object_tags": [1027 "<c7089<CAM_FRONT,762.8,498.5>>"1028 ]1029 },1030 {1031 "Q": "What is the moving status of the black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>)?",1032 "A": "The black car(<c7089<CAM_FRONT,762.8,498.5>>) is driving slowly in the same direction of the ego vehicle.",1033 "C": null,1034 "qid": 16,1035 "con_up": [1036 [1037 4,1038 31039 ]1040 ],1041 "con_down": [1042 [1043 4,1044 01045 ]1046 ],1047 "cluster": 4,1048 "layer": 2,1049 "object_tags": [1050 "<c7089<CAM_FRONT,762.8,498.5>>"1051 ]1052 },1053 {1054 "Q": "What is the rough moving speed and moving direction of black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>)?",1055 "A": "The black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) is driving at a normal speed in the opposite direction of the ego vehicle, going straight.",1056 "C": null,1057 "qid": 21,1058 "con_up": [1059 [1060 4,1061 31062 ]1063 ],1064 "con_down": [1065 [1066 4,1067 01068 ]1069 ],1070 "cluster": 4,1071 "layer": 1,1072 "object_tags": [1073 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>"1074 ]1075 },1076 {1077 "Q": "What is the exact moving speed and moving direction of black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>)?",1078 "A": "The black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) is driving at the speed of 8.2 m/s, going straight.",1079 "C": null,1080 "qid": 22,1081 "con_up": [1082 [1083 4,1084 31085 ]1086 ],1087 "con_down": [1088 [1089 4,1090 01091 ]1092 ],1093 "cluster": 4,1094 "layer": 1,1095 "object_tags": [1096 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>"1097 ]1098 },1099 {1100 "Q": "What is the rough moving speed and moving direction of black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>)?",1101 "A": "The black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>) is driving slowly in the same direction of the ego vehicle, going straight.",1102 "C": null,1103 "qid": 21,1104 "con_up": [1105 [1106 4,1107 31108 ]1109 ],1110 "con_down": [1111 [1112 4,1113 01114 ]1115 ],1116 "cluster": 4,1117 "layer": 1,1118 "object_tags": [1119 "<c7089<CAM_FRONT,762.8,498.5>>"1120 ]1121 },1122 {1123 "Q": "What is the exact moving speed and moving direction of black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>)?",1124 "A": "The black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>) is driving at the speed of 2.0 m/s, going straight.",1125 "C": null,1126 "qid": 22,1127 "con_up": [1128 [1129 4,1130 31131 ]1132 ],1133 "con_down": [1134 [1135 4,1136 01137 ]1138 ],1139 "cluster": 4,1140 "layer": 1,1141 "object_tags": [1142 "<c7089<CAM_FRONT,762.8,498.5>>"1143 ]1144 },1145 {1146 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>), the black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>).' What are the rough moving speed and moving direction of them?",1147 "A": "The black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) is driving at a normal speed in the opposite direction of the ego vehicle, going straight. The black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>) is driving slowly in the same direction of the ego vehicle, going straight.",1148 "C": null,1149 "qid": 24,1150 "con_up": [1151 [1152 4,1153 31154 ]1155 ],1156 "con_down": [1157 [1158 4,1159 01160 ]1161 ],1162 "cluster": 4,1163 "layer": 1,1164 "object_tags": [1165 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>",1166 "<c7089<CAM_FRONT,762.8,498.5>>"1167 ]1168 },1169 {1170 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>), the black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>).' What are the exact moving speed and moving direction of them?",1171 "A": "The black car that is to the front left of the ego vehicle(<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>) is driving at the speed of 8.2 m/s, going straight. The black car that is to the front of the ego vehicle(<c7089<CAM_FRONT,762.8,498.5>>) is driving at the speed of 2.0 m/s, going straight.",1172 "C": null,1173 "qid": 25,1174 "con_up": [1175 [1176 4,1177 31178 ]1179 ],1180 "con_down": [1181 [1182 4,1183 01184 ]1185 ],1186 "cluster": 4,1187 "layer": 1,1188 "object_tags": [1189 "<c7096<CAM_FRONT,323.2,580.0><CAM_FRONT_LEFT,1667.0,600.4>>",1190 "<c7089<CAM_FRONT,762.8,498.5>>"1191 ]1192 },1193 {1194 "Q": "The ego vehicle wants to follow the road. Apart from its lane, which lanes are important to watch out for?",1195 "A": "The ego vehicle should watch out for traffic in its lane and coming from the oncoming lane.",1196 "C": null,1197 "qid": 36,1198 "con_up": [1199 [1200 4,