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.
19.9k
1{2 "key_object_infos": {3 "<c614<CAM_FRONT_LEFT,1061.9,669.6><CAM_FRONT,-1166.1,887.2>>": {4 "id": "614",5 "Category": "Vehicle",6 "Status": null,7 "Visual_description": "olive car",8 "Detailed_description": "the olive car that is to the front left of the ego vehicle",9 "2d_bbox": {10 "CAM_FRONT_LEFT": [11 [12 624.3,13 401.314 ],15 [16 1499.5,17 937.918 ]19 ],20 "CAM_FRONT": [21 [22 -2499.2,23 352.824 ],25 [26 167.0,27 1421.728 ]29 ]30 },31 "3d_bbox": {32 "CAM_FRONT_LEFT": [33 [34 5.4,35 -0.8,36 0.237 ],38 [39 5.4,40 -0.8,41 -1.642 ],43 [44 3.8,45 0.5,46 0.247 ],48 [49 3.8,50 0.5,51 -1.652 ],53 [54 8.2,55 2.7,56 0.157 ],58 [59 8.2,60 2.7,61 -1.662 ],63 [64 6.6,65 4.0,66 0.167 ],68 [69 6.6,70 4.0,71 -1.672 ]73 ],74 "CAM_FRONT": [75 [76 1.9,77 -5.5,78 0.279 ],80 [81 1.9,82 -5.5,83 -1.684 ],85 [86 2.0,87 -3.4,88 0.289 ],90 [91 2.0,92 -3.4,93 -1.694 ],95 [96 6.4,97 -5.7,98 0.199 ],100 [101 6.4,102 -5.7,103 -1.6104 ],105 [106 6.6,107 -3.6,108 0.1109 ],110 [111 6.6,112 -3.6,113 -1.6114 ]115 ]116 },117 "is_role": false,118 "is_dangerous": false,119 "obj_dict": {120 "class": "vehicle",121 "state": "dynamic",122 "id": "614",123 "location": [124 78.04423522949219,125 105.30972290039062,126 0.22398725152015686127 ],128 "rotation": [129 -0.06866388767957687,130 -0.00018310543964616954,131 -179.9609375132 ],133 "bbx_loc": [134 -0.031250014901161194,135 1.7215311345353257e-06,136 0.8910346627235413137 ],138 "center": [139 78.07441711425781,140 105.30974578857422,141 1.1150586605072021142 ],143 "extent": [144 2.2763495445251465,145 1.0485360622406006,146 0.8835831880569458147 ],148 "world_cord": [149 [150 75.7977294921875,151 104.25965881347656,152 1.9959166049957275153 ],154 [155 75.79984283447266,156 104.25965118408203,157 0.2287515252828598158 ],159 [160 75.79629516601562,161 106.35672760009766,162 1.9959099292755127163 ],164 [165 75.79841613769531,166 106.35672760009766,167 0.22874481976032257168 ],169 [170 80.35041809082031,171 104.26276397705078,172 2.0013725757598877173 ],174 [175 80.3525390625,176 104.26275634765625,177 0.23420752584934235178 ],179 [180 80.34899139404297,181 106.35983276367188,182 2.001365900039673183 ],184 [185 80.35111236572266,186 106.35983276367188,187 0.23420082032680511188 ]189 ],190 "semantic_tags": [191 14192 ],193 "type_id": "vehicle.mini.cooper_s_2021",194 "color": "215,88,0",195 "base_type": "car",196 "num_points": 888,197 "distance": 6.752472997396413,198 "speed": 16.05591608862691,199 "brake": 0.0,200 "light_state": "139",201 "road_id": 12,202 "lane_id": -1,203 "section_id": 0,204 "world2vehicle": [205 [206 -0.9999990463256836,207 -0.0006817891844548285,208 -0.0011984106386080384,209 78.11622619628906210 ],211 [212 0.0006817858084104955,213 -0.9999997615814209,214 3.1957904411683558e-06,215 105.2564926147461216 ],217 [218 -0.0011984126176685095,219 2.378728140683961e-06,220 0.9999992847442627,221 -0.13070839643478394222 ],223 [224 0.0,225 0.0,226 0.0,227 1.0228 ]229 ],230 "position": [231 4.993839108401787,232 -4.544980022821652,233 -0.028084600229958845234 ],235 "yaw": -3.2039344542282144,236 "color_rgb": null,237 "color_name": null,238 "lane_type": 2,239 "lane_type_str": "Driving",240 "is_in_junction": false,241 "junction_id": -1,242 "distance_to_junction": null,243 "next_junction_id": -1,244 "next_road_ids": [245 16246 ],247 "next_next_road_ids": [248 1249 ],250 "same_road_as_ego": true,251 "same_direction_as_ego": false,252 "lane_relative_to_ego": -1,253 "steer": 1.1003187445505296e-05,254 "vehicle_cuts_in": false255 },256 "position": [257 4.993839108401787,258 -4.544980022821652,259 -0.028084600229958845260 ],261 "distance": 6.752472997396413,262 "speed": [263 4.993839108401787,264 -4.544980022821652,265 -0.028084600229958845266 ],267 "same_dir": false,268 "is_sign": false269 },270 "<c575<CAM_FRONT_LEFT,1169.3,750.2>>": {271 "id": "575",272 "Category": "Pedestrian",273 "Status": null,274 "Visual_description": "Pedestrian",275 "Detailed_description": "the pedestrian to the front left of the ego vehicle",276 "2d_bbox": {277 "CAM_FRONT_LEFT": [278 [279 1059.0,280 328.3281 ],282 [283 1279.6,284 1172.1285 ]286 ]287 },288 "3d_bbox": {289 "CAM_FRONT_LEFT": [290 [291 3.1,292 0.9,293 0.3294 ],295 [296 3.0,297 0.9,298 -1.6299 ],300 [301 2.8,302 0.6,303 0.3304 ],305 [306 2.8,307 0.6,308 -1.6309 ],310 [311 2.8,312 1.2,313 0.3314 ],315 [316 2.8,317 1.2,318 -1.6319 ],320 [321 2.5,322 0.9,323 0.3324 ],325 [326 2.5,327 0.9,328 -1.6329 ]330 ]331 },332 "is_role": false,333 "is_dangerous": false,334 "obj_dict": {335 "class": "walker",336 "id": "575",337 "location": [338 75.51435089111328,339 107.38372039794922,340 1.1714999675750732341 ],342 "rotation": [343 0.0,344 0.0,345 -96.9610366821289346 ],347 "bbx_loc": [348 0.0,349 0.0,350 0.0351 ],352 "center": [353 75.51435089111328,354 107.38372039794922,355 1.1714999675750732356 ],357 "extent": [358 0.18767888844013214,359 0.18767888844013214,360 0.9300000071525574361 ],362 "world_cord": [363 [364 75.67790222167969,365 107.1746826171875,366 2.1015000343322754367 ],368 [369 75.67790222167969,370 107.1746826171875,371 0.24149996042251587372 ],373 [374 75.30531311035156,375 107.22016906738281,376 2.1015000343322754377 ],378 [379 75.30531311035156,380 107.22016906738281,381 0.24149996042251587382 ],383 [384 75.723388671875,385 107.54727172851562,386 2.1015000343322754387 ],388 [389 75.723388671875,390 107.54727172851562,391 0.24149996042251587392 ],393 [394 75.35079956054688,395 107.59275817871094,396 2.1015000343322754397 ],398 [399 75.35079956054688,400 107.59275817871094,401 0.24149996042251587402 ]403 ],404 "semantic_tags": [405 12406 ],407 "type_id": "walker.pedestrian.0007",408 "gender": "female",409 "age": "adult",410 "num_points": 318,411 "distance": 3.481524214445679,412 "speed": 2.0000925610518894,413 "bone": [414 [415 [416 75.50723266601562,417 107.3980941772461,418 1.2647751569747925419 ],420 [421 75.50811767578125,422 107.40067291259766,423 1.3718435764312744424 ]425 ],426 [427 [428 75.50723266601562,429 107.3980941772461,430 1.2647751569747925431 ],432 [433 75.58851623535156,434 107.40531158447266,435 1.178285837173462436 ]437 ],438 [439 [440 75.50723266601562,441 107.3980941772461,442 1.2647751569747925443 ],444 [445 75.43279266357422,446 107.43307495117188,447 1.1789063215255737448 ]449 ],450 [451 [452 75.50811767578125,453 107.40067291259766,454 1.3718435764312744455 ],456 [457 75.51290130615234,458 107.40999603271484,459 1.5371547937393188460 ]461 ],462 [463 [464 75.51290130615234,465 107.40999603271484,466 1.5371547937393188467 ],468 [469 75.46510314941406,470 107.37749481201172,471 1.6802889108657837472 ]473 ],474 [475 [476 75.51290130615234,477 107.40999603271484,478 1.5371547937393188479 ],480 [481 75.50601959228516,482 107.37969207763672,483 1.7302114963531494484 ]485 ],486 [487 [488 75.51290130615234,489 107.40999603271484,490 1.5371547937393188491 ],492 [493 75.54692840576172,494 107.36775970458984,495 1.6816833019256592496 ]497 ],498 [499 [500 75.46510314941406,501 107.37749481201172,502 1.6802889108657837503 ],504 [505 75.35807800292969,506 107.39983367919922,507 1.6797982454299927508 ]509 ],510 [511 [512 75.35807800292969,513 107.39983367919922,514 1.6797982454299927515 ],516 [517 75.22611236572266,518 107.40763092041016,519 1.444826364517212520 ]521 ],522 [523 [524 75.22611236572266,525 107.40763092041016,526 1.444826364517212527 ],528 [529 75.22869873046875,530 107.20812225341797,531 1.2956140041351318532 ]533 ],534 [535 [536 75.22869873046875,537 107.20812225341797,538 1.2956140041351318539 ],540 [541 75.24746704101562,542 107.17509460449219,543 1.2878915071487427544 ]545 ],546 [547 [548 75.22869873046875,549 107.20812225341797,550 1.2956140041351318551 ],552 [553 75.23577880859375,554 107.11670684814453,555 1.261434555053711556 ]557 ],558 [559 [560 75.22869873046875,561 107.20812225341797,562 1.2956140041351318563 ],564 [565 75.22432708740234,566 107.12639617919922,567 1.2468701601028442568 ]569 ],570 [571 [572 75.22869873046875,573 107.20812225341797,574 1.2956140041351318575 ],576 [577 75.21756744384766,578 107.14205169677734,579 1.2375842332839966580 ]581 ],582 [583 [584 75.22869873046875,585 107.20812225341797,586 1.2956140041351318587 ],588 [589 75.21458435058594,590 107.15999603271484,591 1.2256171703338623592 ]593 ],594 [595 [596 75.24746704101562,597 107.17509460449219,598 1.2878915071487427599 ],600 [601 75.26515197753906,602 107.13839721679688,603 1.2865900993347168604 ]605 ],606 [607 [608 75.26515197753906,609 107.13839721679688,610 1.2865900993347168611 ],612 [613 75.27299499511719,614 107.11653900146484,615 1.267889142036438616 ]617 ],618 [619 [620 75.27299499511719,621 107.11653900146484,622 1.267889142036438623 ],624 [625 75.27345275878906,626 107.10305786132812,627 1.2434574365615845628 ]629 ],630 [631 [632 75.23577880859375,633 107.11670684814453,634 1.261434555053711635 ],636 [637 75.24540710449219,638 107.08800506591797,639 1.23626708984375640 ]641 ],642 [643 [644 75.24540710449219,645 107.08800506591797,646 1.23626708984375647 ],648 [649 75.25719451904297,650 107.07877349853516,651 1.2217189073562622652 ]653 ],654 [655 [656 75.25719451904297,657 107.07877349853516,658 1.2217189073562622659 ],660 [661 75.27208709716797,662 107.07447052001953,663 1.2069483995437622664 ]665 ],666 [667 [668 75.22432708740234,669 107.12639617919922,670 1.2468701601028442671 ],672 [673 75.23316955566406,674 107.0951919555664,675 1.217834234237671676 ]677 ],678 [679 [680 75.23316955566406,681 107.0951919555664,682 1.217834234237671683 ],684 [685 75.253662109375,686 107.091552734375,687 1.2035787105560303688 ]689 ],690 [691 [692 75.253662109375,693 107.091552734375,694 1.2035787105560303695 ],696 [697 75.27392578125,698 107.09829711914062,699 1.1971220970153809700 ]701 ],702 [703 [704 75.21756744384766,705 107.14205169677734,706 1.2375842332839966707 ],708 [709 75.22703552246094,710 107.11792755126953,711 1.2067797183990479712 ]713 ],714 [715 [716 75.22703552246094,717 107.11792755126953,718 1.2067797183990479719 ],720 [721 75.24474334716797,722 107.11614990234375,723 1.194065809249878724 ]725 ],726 [727 [728 75.24474334716797,729 107.11614990234375,730 1.194065809249878731 ],732 [733 75.263916015625,734 107.12259674072266,735 1.18892502784729736 ]737 ],738 [739 [740 75.21458435058594,741 107.15999603271484,742 1.2256171703338623743 ],744 [745 75.21807861328125,746 107.14073181152344,747 1.2057321071624756748 ]749 ],750 [751 [752 75.21807861328125,753 107.14073181152344,754 1.2057321071624756755 ],756 [757 75.23003387451172,758 107.13584899902344,759 1.1949189901351929760 ]761 ],762 [763 [764 75.23003387451172,765 107.13584899902344,766 1.1949189901351929767 ],768 [769 75.24710083007812,770 107.1385498046875,771 1.190093994140625772 ]773 ],774 [775 [776 75.50601959228516,777 107.37969207763672,778 1.7302114963531494779 ],780 [781 75.4970474243164,782 107.34967803955078,783 1.8187193870544434784 ]785 ],786 [787 [788 75.4970474243164,789 107.34967803955078,790 1.8187193870544434791 ],792 [793 75.44511413574219,794 107.27261352539062,795 1.895391821861267796 ]797 ],798 [799 [800 75.4970474243164,801 107.34967803955078,802 1.8187193870544434803 ],804 [805 75.50975799560547,806 107.26128387451172,807 1.8995895385742188808 ]809 ],810 [811 [812 75.54692840576172,813 107.36775970458984,814 1.6816833019256592815 ],816 [817 75.65574645996094,818 107.37227630615234,819 1.6912981271743774820 ]821 ],822 [823 [824 75.65574645996094,825 107.37227630615234,826 1.6912981271743774827 ],828 [829 75.76783752441406,830 107.45044708251953,831 1.4588922262191772832 ]833 ],834 [835 [836 75.76783752441406,837 107.45044708251953,838 1.4588922262191772839 ],840 [841 75.72671508789062,842 107.32192993164062,843 1.2494462728500366844 ]845 ],846 [847 [848 75.72671508789062,849 107.32192993164062,850 1.2494462728500366851 ],852 [853 75.70082092285156,854 107.30278015136719,855 1.2278817892074585856 ]857 ],858 [859 [860 75.72671508789062,861 107.32192993164062,862 1.2494462728500366863 ],864 [865 75.69892120361328,866 107.2658462524414,867 1.1742361783981323868 ]869 ],870 [871 [872 75.72671508789062,873 107.32192993164062,874 1.2494462728500366875 ],876 [877 75.71273803710938,878 107.2789306640625,879 1.165589690208435880 ]881 ],882 [883 [884 75.72671508789062,885 107.32192993164062,886 1.2494462728500366887 ],888 [889 75.72328186035156,890 107.29524230957031,891 1.164992094039917892 ]893 ],894 [895 [896 75.72671508789062,897 107.32192993164062,898 1.2494462728500366899 ],900 [901 75.73077392578125,902 107.31563568115234,903 1.163662314414978904 ]905 ],906 [907 [908 75.70082092285156,909 107.30278015136719,910 1.2278817892074585911 ],912 [913 75.6741943359375,914 107.27774047851562,915 1.2098219394683838916 ]917 ],918 [919 [920 75.6741943359375,921 107.27774047851562,922 1.2098219394683838923 ],924 [925 75.66024780273438,926 107.27061462402344,927 1.1844555139541626928 ]929 ],930 [931 [932 75.66024780273438,933 107.27061462402344,934 1.1844555139541626935 ],936 [937 75.65422058105469,938 107.27103424072266,939 1.1572062969207764940 ]941 ],942 [943 [944 75.69892120361328,945 107.2658462524414,946 1.1742361783981323947 ],948 [949 75.68301391601562,950 107.2589340209961,951 1.1388933658599854952 ]953 ],954 [955 [956 75.68301391601562,957 107.2589340209961,958 1.1388933658599854959 ],960 [961 75.66893005371094,962 107.26349639892578,963 1.1241661310195923964 ]965 ],966 [967 [968 75.66893005371094,969 107.26349639892578,970 1.1241661310195923971 ],972 [973 75.65320587158203,974 107.27156066894531,975 1.112075686454773976 ]977 ],978 [979 [980 75.71273803710938,981 107.2789306640625,982 1.165589690208435983 ],984 [985 75.69627380371094,986 107.2716293334961,987 1.125968337059021988 ]989 ],990 [991 [992 75.69627380371094,993 107.2716293334961,994 1.125968337059021995 ],996 [997 75.67665100097656,998 107.2779541015625,999 1.11142349243164061000 ]1001 ],1002 [1003 [1004 75.67665100097656,1005 107.2779541015625,1006 1.11142349243164061007 ],1008 [1009 75.65774536132812,1010 107.28858184814453,1011 1.1061637401580811012 ]1013 ],1014 [1015 [1016 75.72328186035156,1017 107.29524230957031,1018 1.1649920940399171019 ],1020 [1021 75.71251678466797,1022 107.2869873046875,1023 1.12708544731140141024 ]1025 ],1026 [1027 [1028 75.71251678466797,1029 107.2869873046875,1030 1.12708544731140141031 ],1032 [1033 75.69486999511719,1034 107.29373168945312,1035 1.11606800556182861036 ]1037 ],1038 [1039 [1040 75.69486999511719,1041 107.29373168945312,1042 1.11606800556182861043 ],1044 [1045 75.67713928222656,1046 107.30475616455078,1047 1.11652421951293951048 ]1049 ],1050 [1051 [1052 75.73077392578125,1053 107.31563568115234,1054 1.1636623144149781055 ],1056 [1057 75.72359466552734,1058 107.30867004394531,1059 1.13760805130004881060 ]1061 ],1062 [1063 [1064 75.72359466552734,1065 107.30867004394531,1066 1.13760805130004881067 ],1068 [1069 75.71226501464844,1070 107.31129455566406,1071 1.12541890144348141072 ]1073 ],1074 [1075 [1076 75.71226501464844,1077 107.31129455566406,1078 1.12541890144348141079 ],1080 [1081 75.69699096679688,1082 107.31863403320312,1083 1.1195468902587891084 ]1085 ],1086 [1087 [1088 75.58851623535156,1089 107.40531158447266,1090 1.1782858371734621091 ],1092 [1093 75.58817291259766,1094 107.2159652709961,1095 0.75604122877120971096 ]1097 ],1098 [1099 [1100 75.58817291259766,1101 107.2159652709961,1102 0.75604122877120971103 ],1104 [1105 75.6025161743164,1106 107.43382263183594,1107 0.37965640425682071108 ]1109 ],1110 [1111 [1112 75.6025161743164,1113 107.43382263183594,1114 0.37965640425682071115 ],1116 [1117 75.62435150146484,1118 107.34932708740234,1119 0.30547267198562621120 ]1121 ],1122 [1123 [1124 75.62435150146484,1125 107.34932708740234,1126 0.30547267198562621127 ],1128 [1129 75.6346206665039,1130 107.31507873535156,1131 0.274067312479019171132 ]1133 ],1134 [1135 [1136 75.43279266357422,1137 107.43307495117188,1138 1.17890632152557371139 ],1140 [1141 75.44475555419922,1142 107.40757751464844,1143 0.71700859069824221144 ]1145 ],1146 [1147 [1148 75.44475555419922,1149 107.40757751464844,1150 0.71700859069824221151 ],1152 [1153 75.4882583618164,1154 107.6225357055664,1155 0.341193646192550661156 ]1157 ],1158 [1159 [1160 75.4882583618164,1161 107.6225357055664,1162 0.341193646192550661163 ],1164 [1165 75.45084381103516,1166 107.52671813964844,1167 0.290809839963912961168 ]1169 ],1170 [1171 [1172 75.45084381103516,1173 107.52671813964844,1174 0.290809839963912961175 ],1176 [1177 75.43331909179688,1178 107.48839569091797,1179 0.268698155879974371180 ]1181 ]1182 ],1183 "road_id": 12,1184 "lane_id": -1,1185 "section_id": 0,1186 "world2ped": [1187 [1188 -0.12119436264038086,1189 -0.992628812789917,1190 0.0,1191 115.744094848632811192 ],1193 [1194 0.992628812789917,1195 -0.12119436264038086,1196 -0.0,1197 -61.9434165954589841198 ],1199 [1200 0.0,