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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{387 "class": "vehicle",388 "state": "dynamic",389 "id": "341",390 "location": [391 -101.2692642211914,392 69.78814697265625,393 0.3532341718673706394 ],395 "rotation": [396 -2.952321767807007,397 -0.014221078716218472,398 -84.0386734008789399 ],400 "bbx_loc": [401 0.004040533676743507,402 -3.0353664897120325e-06,403 0.7188606858253479404 ],405 "center": [406 -101.26518249511719,407 69.7472915649414,408 1.0709326267242432409 ],410 "extent": [411 2.4508416652679443,412 1.0641621351242065,413 0.7553732395172119414 ],415 "world_cord": [416 [417 -99.94871520996094,418 67.38472747802734,419 1.6993364095687866420 ],421 [422 -99.95642852783203,423 67.462158203125,424 0.1905953288078308425 ],426 [427 -102.06553649902344,428 67.1637191772461,429 1.6988089084625244430 ],431 [432 -102.0732421875,433 67.24114227294922,434 0.19006776809692383435 ],436 [437 -100.45711517333984,438 72.25343322753906,439 1.951797366142273440 ],441 [442 -100.46482849121094,443 72.33086395263672,444 0.44305619597435445 ],446 [447 -102.57393646240234,448 72.03242492675781,449 1.9512697458267212450 ],451 [452 -102.5816421508789,453 72.10984802246094,454 0.442528635263443455 ]456 ],457 "semantic_tags": [458 14459 ],460 "type_id": "vehicle.lincoln.mkz_2017",461 "color": "16,16,16",462 "base_type": "car",463 "num_points": 68,464 "distance": 23.11376449243928,465 "speed": 9.964075736794623e-05,466 "brake": 1.0,467 "light_state": "27",468 "road_id": 45,469 "lane_id": 1,470 "section_id": 0,471 "world2vehicle": [472 [473 0.10371927917003632,474 -0.9932721257209778,475 -0.05150493606925011,476 79.84039306640625477 ],478 [479 0.9945935010910034,480 0.10384440422058105,481 0.00024787522852420807,482 93.47455596923828483 ],484 [485 0.0051022921688854694,486 -0.05125218629837036,487 0.9986726641654968,488 3.7407352924346924489 ],490 [491 0.0,492 0.0,493 0.0,494 1.0495 ]496 ],497 "position": [498 20.30742455929665,499 -11.030192387727695,500 0.5641141804224148501 ],502 "yaw": -3.4022680542508748,503 "color_rgb": null,504 "color_name": null,505 "lane_type": 2,506 "lane_type_str": "Driving",507 "is_in_junction": false,508 "junction_id": -1,509 "distance_to_junction": 7.801239490509033,510 "next_junction_id": 68,511 "next_road_ids": [512 121513 ],514 "next_next_road_ids": [515 55516 ],517 "same_road_as_ego": false,518 "same_direction_as_ego": false,519 "lane_relative_to_ego": null,520 "steer": 0.0,521 "vehicle_cuts_in": false522 },523 "position": [524 20.30742455929665,525 -11.030192387727695,526 0.5641141804224148527 ],528 "distance": 23.11376449243928,529 "speed": [530 20.30742455929665,531 -11.030192387727695,532 0.5641141804224148533 ],534 "same_dir": false,535 "is_sign": false536 },537 "<e3<CAM_FRONT>>": {538 "id": null,539 "Category": "Traffic element",540 "Status": null,541 "Visual_description": "Junction",542 "Detailed_description": "the junction",543 "2d_bbox": {},544 "3d_bbox": {},545 "is_role": false,546 "is_dangerous": false,547 "obj_dict": {548 "distance": 0.0549 },550 "position": null,551 "distance": 0.0,552 "speed": null,553 "same_dir": false,554 "is_sign": false555 }556 },557 "QA": {558 "perception": [559 {560 "Q": "What are the important objects in the scene?",561 "A": "The important objects in the scene are a junction and the dark green car and the black car to the front left of the ego vehicle.",562 "C": null,563 "qid": 18,564 "con_up": -1,565 "con_down": -1,566 "cluster": 0,567 "layer": 0,568 "object_tags": [569 "<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>",570 "<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>",571 "<e3<CAM_FRONT>>"572 ]573 },574 {575 "Q": "What are the important objects in the scene? List them from most to least important.",576 "A": "The junction(<e3<CAM_FRONT>>), the black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>), the dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>).",577 "C": null,578 "qid": 19,579 "con_up": -1,580 "con_down": -1,581 "cluster": 0,582 "layer": 0,583 "object_tags": [584 "<e3<CAM_FRONT>>",585 "<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>",586 "<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>"587 ]588 },589 {590 "Q": "Where on the road is the black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>) located?",591 "A": "The black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>) is on the left side of the junction and is pointing towards the junction.",592 "C": null,593 "qid": 20,594 "con_up": [595 [596 4,597 1598 ],599 [600 4,601 2602 ],603 [604 4,605 3606 ]607 ],608 "con_down": [609 [610 3,611 0612 ],613 [614 3,615 2616 ],617 [618 3,619 3620 ]621 ],622 "cluster": 4,623 "layer": 0,624 "object_tags": [625 "<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>"626 ]627 },628 {629 "Q": "Where on the road is the dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>) located?",630 "A": "The dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>) is on the left side of the junction and is pointing towards the junction.",631 "C": null,632 "qid": 20,633 "con_up": [634 [635 4,636 1637 ],638 [639 4,640 2641 ],642 [643 4,644 3645 ]646 ],647 "con_down": [648 [649 3,650 0651 ],652 [653 3,654 2655 ],656 [657 3,658 3659 ]660 ],661 "cluster": 4,662 "layer": 0,663 "object_tags": [664 "<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>"665 ]666 },667 {668 "Q": "What are the important vehicles in the scene and where on the road are they located? List them from most to least important.",669 "A": "The black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>), which is on the left side of the junction and is pointing towards the junction. The dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>), which is on the left side of the junction and is pointing towards the junction.",670 "C": null,671 "qid": 26,672 "con_up": [673 [674 4,675 3676 ]677 ],678 "con_down": [679 [680 4,681 0682 ]683 ],684 "cluster": 4,685 "layer": 1,686 "object_tags": [687 "<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>",688 "<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>"689 ]690 },691 {692 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>), the dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>).' Where on the road are they located?",693 "A": "The black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>) is on the left side of the junction and is pointing towards the junction. The dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>) is on the left side of the junction and is pointing towards the junction.",694 "C": null,695 "qid": 27,696 "con_up": [697 [698 4,699 3700 ]701 ],702 "con_down": [703 [704 4,705 0706 ]707 ],708 "cluster": 4,709 "layer": 1,710 "object_tags": [711 "<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>",712 "<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>"713 ]714 },715 {716 "Q": "Is the ego vehicle at a junction?",717 "A": "The ego vehicle is in a junction.",718 "C": null,719 "qid": 35,720 "con_up": [721 [722 1,723 0724 ],725 [726 2,727 0728 ],729 [730 3,731 1732 ],733 [734 3,735 2736 ],737 [738 3,739 3740 ],741 [742 4,743 0744 ]745 ],746 "con_down": -1,747 "cluster": 3,748 "layer": 0,749 "object_tags": []750 },751 {752 "Q": "How many lanes are there in the same direction as the ego car?",753 "A": "It is not possible to tell since the ego vehicle is in a junction.",754 "C": null,755 "qid": 34,756 "con_up": [757 [758 3,759 1760 ],761 [762 3,763 3764 ],765 [766 3,767 4768 ],769 [770 3,771 5772 ],773 [774 3,775 6776 ],777 [778 3,779 7780 ],781 [782 4,783 0784 ]785 ],786 "con_down": [787 [788 3,789 0790 ]791 ],792 "cluster": 3,793 "layer": 2,794 "object_tags": []795 },796 {797 "Q": "How many lanes are there in the opposite direction to the ego car?",798 "A": "It is not possible to tell since the ego vehicle is in a junction.",799 "C": null,800 "qid": 34,801 "con_up": [802 [803 3,804 1805 ],806 [807 3,808 3809 ],810 [811 3,812 4813 ],814 [815 3,816 5817 ],818 [819 3,820 6821 ],822 [823 3,824 7825 ],826 [827 4,828 0829 ]830 ],831 "con_down": [832 [833 3,834 0835 ]836 ],837 "cluster": 3,838 "layer": 2,839 "object_tags": []840 },841 {842 "Q": "On which lane is the ego vehicle (left most lane of the lanes going in the same direction is indicated with 0)?",843 "A": "It is not possible to tell since the ego vehicle is in a junction.",844 "C": null,845 "qid": 33,846 "con_up": [847 [848 3,849 1850 ],851 [852 3,853 4854 ],855 [856 3,857 5858 ],859 [860 3,861 6862 ],863 [864 4,865 0866 ]867 ],868 "con_down": [869 [870 3,871 0872 ]873 ],874 "cluster": 3,875 "layer": 3,876 "object_tags": []877 },878 {879 "Q": "What lane marking is on the left side of the ego car?",880 "A": "There is no lane marking on the left side of the ego car.",881 "C": null,882 "qid": 32,883 "con_up": [884 [885 3,886 5887 ],888 [889 3,890 6891 ]892 ],893 "con_down": [894 [895 3,896 2897 ],898 [899 3,900 3901 ]902 ],903 "cluster": 3,904 "layer": 4,905 "object_tags": []906 },907 {908 "Q": "What lane marking is on the right side of the ego car?",909 "A": "There is no lane marking on the right side of the ego car.",910 "C": null,911 "qid": 32,912 "con_up": [913 [914 3,915 5916 ],917 [918 3,919 6920 ]921 ],922 "con_down": [923 [924 3,925 2926 ],927 [928 3,929 3930 ]931 ],932 "cluster": 3,933 "layer": 4,934 "object_tags": []935 },936 {937 "Q": "Describe the current lane's direction.",938 "A": "The current lane is curving to the right.",939 "C": null,940 "qid": 44,941 "con_up": -1,942 "con_down": -1,943 "cluster": 3,944 "layer": 6,945 "object_tags": []946 },947 {948 "Q": "Is the ego vehicle affected by a traffic light?",949 "A": "No, the ego vehicle is not affected by a traffic light.",950 "C": null,951 "qid": 5,952 "con_up": [953 [954 2,955 1956 ]957 ],958 "con_down": [959 [960 3,961 0962 ]963 ],964 "cluster": 2,965 "layer": 0,966 "object_tags": []967 },968 {969 "Q": "How many pedestrians are there?",970 "A": "There are no pedestrians.",971 "C": null,972 "qid": 1,973 "con_up": [974 [975 6,976 0977 ]978 ],979 "con_down": -1,980 "cluster": 5,981 "layer": 0,982 "object_tags": []983 },984 {985 "Q": "What is current time and weather?",986 "A": "It is daytime, near dusk or dawn, raining heavily.",987 "C": null,988 "qid": 37,989 "con_up": -1,990 "con_down": -1,991 "cluster": 3,992 "layer": 1,993 "object_tags": []994 },995 {996 "Q": "Is there an obstacle on the current road?",997 "A": "No, there is no obstacle on the current route.",998 "C": null,999 "qid": 11,1000 "con_up": [1001 [1002 3,1003 81004 ]1005 ],1006 "con_down": -1,1007 "cluster": 3,1008 "layer": 9,1009 "object_tags": []1010 },1011 {1012 "Q": "What is the current speed limit?",1013 "A": "There's no speed limit now.",1014 "C": null,1015 "qid": 7,1016 "con_up": [1017 [1018 6,1019 01020 ]1021 ],1022 "con_down": [1023 [1024 3,1025 21026 ]1027 ],1028 "cluster": 3,1029 "layer": 7,1030 "object_tags": []1031 }1032 ],1033 "prediction": [1034 {1035 "Q": "Where is the dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>) going?",1036 "A": "The dark green car(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>) is going straight.",1037 "C": null,1038 "qid": 17,1039 "con_up": [1040 [1041 4,1042 31043 ]1044 ],1045 "con_down": [1046 [1047 4,1048 01049 ]1050 ],1051 "cluster": 4,1052 "layer": 1,1053 "object_tags": [1054 "<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>"1055 ]1056 },1057 {1058 "Q": "What is the moving status of the dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>)?",1059 "A": "The dark green car(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>) is driving slowly.",1060 "C": null,1061 "qid": 16,1062 "con_up": [1063 [1064 4,1065 31066 ]1067 ],1068 "con_down": [1069 [1070 4,1071 01072 ]1073 ],1074 "cluster": 4,1075 "layer": 2,1076 "object_tags": [1077 "<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>"1078 ]1079 },1080 {1081 "Q": "Where is the black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>) going?",1082 "A": "The black car(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>) is going straight.",1083 "C": null,1084 "qid": 17,1085 "con_up": [1086 [1087 4,1088 31089 ]1090 ],1091 "con_down": [1092 [1093 4,1094 01095 ]1096 ],1097 "cluster": 4,1098 "layer": 1,1099 "object_tags": [1100 "<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>"1101 ]1102 },1103 {1104 "Q": "What is the moving status of the black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>)?",1105 "A": "The black car(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>) is not moving.",1106 "C": null,1107 "qid": 16,1108 "con_up": [1109 [1110 4,1111 31112 ]1113 ],1114 "con_down": [1115 [1116 4,1117 01118 ]1119 ],1120 "cluster": 4,1121 "layer": 2,1122 "object_tags": [1123 "<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>"1124 ]1125 },1126 {1127 "Q": "What is the rough moving speed and moving direction of black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>)?",1128 "A": "The black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>) is not moving, going straight.",1129 "C": null,1130 "qid": 21,1131 "con_up": [1132 [1133 4,1134 31135 ]1136 ],1137 "con_down": [1138 [1139 4,1140 01141 ]1142 ],1143 "cluster": 4,1144 "layer": 1,1145 "object_tags": [1146 "<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>"1147 ]1148 },1149 {1150 "Q": "What is the exact moving speed and moving direction of black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>)?",1151 "A": "The black car that is to the front left of the ego vehicle(<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>) is driving at the speed of 0.0 m/s, going straight.",1152 "C": null,1153 "qid": 22,1154 "con_up": [1155 [1156 4,1157 31158 ]1159 ],1160 "con_down": [1161 [1162 4,1163 01164 ]1165 ],1166 "cluster": 4,1167 "layer": 1,1168 "object_tags": [1169 "<c341<CAM_FRONT,139.5,474.6><CAM_FRONT_LEFT,1386.8,475.2>>"1170 ]1171 },1172 {1173 "Q": "What is the rough moving speed and moving direction of dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>)?",1174 "A": "The dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>) is driving slowly, going straight.",1175 "C": null,1176 "qid": 21,1177 "con_up": [1178 [1179 4,1180 31181 ]1182 ],1183 "con_down": [1184 [1185 4,1186 01187 ]1188 ],1189 "cluster": 4,1190 "layer": 1,1191 "object_tags": [1192 "<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>"1193 ]1194 },1195 {1196 "Q": "What is the exact moving speed and moving direction of dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>)?",1197 "A": "The dark green car that is to the front left of the ego vehicle(<c345<CAM_FRONT,284.0,452.0><CAM_FRONT_LEFT,1513.7,453.0>>) is driving at the speed of 0.7 m/s, going straight.",1198 "C": null,1199 "qid": 22,1200 "con_up": [