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
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dark blue car that is to the front of the ego vehicle",439 "2d_bbox": {440 "CAM_FRONT": [441 [442 674.0,443 469.7444 ],445 [446 914.9,447 645.0448 ]449 ]450 },451 "3d_bbox": {452 "CAM_FRONT": [453 [454 15.0,455 1.0,456 -0.3457 ],458 [459 15.0,460 1.0,461 -1.7462 ],463 [464 15.0,465 -1.0,466 -0.3467 ],468 [469 15.0,470 -1.0,471 -1.7472 ],473 [474 9.6,475 1.0,476 -0.2477 ],478 [479 9.6,480 1.0,481 -1.6482 ],483 [484 9.7,485 -1.1,486 -0.2487 ],488 [489 9.6,490 -1.1,491 -1.6492 ]493 ]494 },495 "is_role": false,496 "is_dangerous": false,497 "obj_dict": {498 "class": "vehicle",499 "state": "dynamic",500 "id": "15854",501 "location": [502 36.54851531982422,503 3916.5068359375,504 369.3107604980469505 ],506 "rotation": [507 0.68867427110672,508 0.007206658832728863,509 -179.60919189453125510 ],511 "bbx_loc": [512 6.706833664793521e-05,513 0.0017556146485731006,514 0.7014989852905273515 ],516 "center": [517 36.55689239501953,518 3916.505126953125,519 370.01220703125520 ],521 "extent": [522 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"position": [635 13.1210384621547,636 -0.029916969721297627,637 -0.052959846231374286638 ],639 "distance": 13.120121054212673,640 "speed": [641 13.1210384621547,642 -0.029916969721297627,643 -0.052959846231374286644 ],645 "same_dir": true,646 "is_sign": false647 }648 },649 "QA": {650 "perception": [651 {652 "Q": "What are the important objects in the scene?",653 "A": "The important objects in the scene are the black car and the maroon car to the front right of the ego vehicle and the dark blue car to the front of the ego vehicle.",654 "C": null,655 "qid": 18,656 "con_up": -1,657 "con_down": -1,658 "cluster": 0,659 "layer": 0,660 "object_tags": [661 "<c15858<CAM_FRONT,1061.2,526.3>>",662 "<c15857<CAM_FRONT,926.5,495.0>>",663 "<c15854<CAM_FRONT,794.4,557.4>>"664 ]665 },666 {667 "Q": "What are the important objects in the scene? List them from most to least important.",668 "A": "The dark blue car that is to the front of the ego vehicle(<c15854<CAM_FRONT,794.4,557.4>>), the black car that is to the front right of the ego vehicle(<c15858<CAM_FRONT,1061.2,526.3>>), the maroon car that is to the front right of the ego vehicle(<c15857<CAM_FRONT,926.5,495.0>>).",669 "C": null,670 "qid": 19,671 "con_up": -1,672 "con_down": -1,673 "cluster": 0,674 "layer": 0,675 "object_tags": [676 "<c15854<CAM_FRONT,794.4,557.4>>",677 "<c15858<CAM_FRONT,1061.2,526.3>>",678 "<c15857<CAM_FRONT,926.5,495.0>>"679 ]680 },681 {682 "Q": "Where on the road is the dark blue car that is to the front of the ego vehicle(<c15854<CAM_FRONT,794.4,557.4>>) located?",683 "A": "The dark blue car that is to the front of the ego vehicle(<c15854<CAM_FRONT,794.4,557.4>>) is on the same road driving on the lane of the ego vehicle.",684 "C": null,685 "qid": 20,686 "con_up": [687 [688 4,689 1690 ],691 [692 4,693 2694 ],695 [696 4,697 3698 ]699 ],700 "con_down": [701 [702 3,703 0704 ],705 [706 3,707 2708 ],709 [710 3,711 3712 ]713 ],714 "cluster": 4,715 "layer": 0,716 "object_tags": [717 "<c15854<CAM_FRONT,794.4,557.4>>"718 ]719 },720 {721 "Q": "Where on the road is the black car that is to the front right of the ego vehicle(<c15858<CAM_FRONT,1061.2,526.3>>) located?",722 "A": "The black car that is to the front right of the ego vehicle(<c15858<CAM_FRONT,1061.2,526.3>>) is on the same road stops in the same direction. It is one lane to the right of the ego vehicle.",723 "C": null,724 "qid": 20,725 "con_up": [726 [727 4,728 1729 ],730 [731 4,732 2733 ],734 [735 4,736 3737 ]738 ],739 "con_down": [740 [741 3,742 0743 ],744 [745 3,746 2747 ],748 [749 3,750 3751 ]752 ],753 "cluster": 4,754 "layer": 0,755 "object_tags": [756 "<c15858<CAM_FRONT,1061.2,526.3>>"757 ]758 },759 {760 "Q": "Where on the road is the maroon car that is to the front right of the ego vehicle(<c15857<CAM_FRONT,926.5,495.0>>) located?",761 "A": "The maroon car that is to the front right of the ego vehicle(<c15857<CAM_FRONT,926.5,495.0>>) is on the same road driving in the same direction. It is one lane to the right of the ego vehicle.",762 "C": null,763 "qid": 20,764 "con_up": [765 [766 4,767 1768 ],769 [770 4,771 2772 ],773 [774 4,775 3776 ]777 ],778 "con_down": [779 [780 3,781 0782 ],783 [784 3,785 2786 ],787 [788 3,789 3790 ]791 ],792 "cluster": 4,793 "layer": 0,794 "object_tags": [795 "<c15857<CAM_FRONT,926.5,495.0>>"796 ]797 },798 {799 "Q": "What are the important vehicles in the scene and where on the road are they located? List them from most to least important.",800 "A": "The dark blue car that is to the front of the ego vehicle(<c15854<CAM_FRONT,794.4,557.4>>), which is on the same road driving on the lane of the ego vehicle. The black car that is to the front right of the ego vehicle(<c15858<CAM_FRONT,1061.2,526.3>>), which is on the same road stops in the same direction. It is one lane to the right of the ego vehicle. The maroon car that is to the front right of the ego vehicle(<c15857<CAM_FRONT,926.5,495.0>>), which is on the same road driving in the same direction. It is one lane to the right of the ego vehicle.",801 "C": null,802 "qid": 26,803 "con_up": [804 [805 4,806 3807 ]808 ],809 "con_down": [810 [811 4,812 0813 ]814 ],815 "cluster": 4,816 "layer": 1,817 "object_tags": [818 "<c15854<CAM_FRONT,794.4,557.4>>",819 "<c15858<CAM_FRONT,1061.2,526.3>>",820 "<c15857<CAM_FRONT,926.5,495.0>>"821 ]822 },823 {824 "Q": "The list of important vehicles in the current scene is 'the dark blue car that is to the front of the ego vehicle(<c15854<CAM_FRONT,794.4,557.4>>), the black car that is to the front right of the ego vehicle(<c15858<CAM_FRONT,1061.2,526.3>>), the maroon car that is to the front right of the ego vehicle(<c15857<CAM_FRONT,926.5,495.0>>).' Where on the road are they located?",825 "A": "The dark blue car that is to the front of the ego vehicle(<c15854<CAM_FRONT,794.4,557.4>>) is on the same road driving on the lane of the ego vehicle. The black car that is to the front right of the ego vehicle(<c15858<CAM_FRONT,1061.2,526.3>>) is on the same road stops in the same direction. It is one lane to the right of the ego vehicle. The maroon car that is to the front right of the ego vehicle(<c15857<CAM_FRONT,926.5,495.0>>) is on the same road driving in the same direction. It is one lane to the right of the ego vehicle.",826 "C": null,827 "qid": 27,828 "con_up": [829 [830 4,831 3832 ]833 ],834 "con_down": [835 [836 4,837 0838 ]839 ],840 "cluster": 4,841 "layer": 1,842 "object_tags": [843 "<c15854<CAM_FRONT,794.4,557.4>>",844 "<c15858<CAM_FRONT,1061.2,526.3>>",845 "<c15857<CAM_FRONT,926.5,495.0>>"846 ]847 },848 {849 "Q": "Is the ego vehicle at a junction?",850 "A": "No, the ego vehicle is not at a junction.",851 "C": null,852 "qid": 35,853 "con_up": [854 [855 1,856 0857 ],858 [859 2,860 0861 ],862 [863 3,864 1865 ],866 [867 3,868 2869 ],870 [871 3,872 3873 ],874 [875 4,876 0877 ]878 ],879 "con_down": -1,880 "cluster": 3,881 "layer": 0,882 "object_tags": []883 },884 {885 "Q": "How many lanes are there in the same direction as the ego car?",886 "A": "There are two lanes in the same direction.",887 "C": null,888 "qid": 34,889 "con_up": [890 [891 3,892 1893 ],894 [895 3,896 3897 ],898 [899 3,900 4901 ],902 [903 3,904 5905 ],906 [907 3,908 6909 ],910 [911 3,912 7913 ],914 [915 4,916 0917 ]918 ],919 "con_down": [920 [921 3,922 0923 ]924 ],925 "cluster": 3,926 "layer": 2,927 "object_tags": []928 },929 {930 "Q": "How many lanes are there in the opposite direction to the ego car?",931 "A": "There are two lanes in the opposite direction.",932 "C": null,933 "qid": 34,934 "con_up": [935 [936 3,937 1938 ],939 [940 3,941 3942 ],943 [944 3,945 4946 ],947 [948 3,949 5950 ],951 [952 3,953 6954 ],955 [956 3,957 7958 ],959 [960 4,961 0962 ]963 ],964 "con_down": [965 [966 3,967 0968 ]969 ],970 "cluster": 3,971 "layer": 2,972 "object_tags": []973 },974 {975 "Q": "On which lane is the ego vehicle (left most lane of the lanes going in the same direction is indicated with 0)?",976 "A": "The ego vehicle is on lane 0.",977 "C": null,978 "qid": 33,979 "con_up": [980 [981 3,982 1983 ],984 [985 3,986 4987 ],988 [989 3,990 5991 ],992 [993 3,994 6995 ],996 [997 4,998 0999 ]1000 ],1001 "con_down": [1002 [1003 3,1004 01005 ]1006 ],1007 "cluster": 3,1008 "layer": 3,1009 "object_tags": []1010 },1011 {1012 "Q": "What lane marking is on the left side of the ego car?",1013 "A": "The lane marking on the left side of the ego car is a yellow double solid lane.",1014 "C": null,1015 "qid": 32,1016 "con_up": [1017 [1018 3,1019 51020 ],1021 [1022 3,1023 61024 ]1025 ],1026 "con_down": [1027 [1028 3,1029 21030 ],1031 [1032 3,1033 31034 ]1035 ],1036 "cluster": 3,1037 "layer": 4,1038 "object_tags": []1039 },1040 {1041 "Q": "What lane marking is on the right side of the ego car?",1042 "A": "The lane marking on the right side of the ego car is a white broken lane.",1043 "C": null,1044 "qid": 32,1045 "con_up": [1046 [1047 3,1048 51049 ],1050 [1051 3,1052 61053 ]1054 ],1055 "con_down": [1056 [1057 3,1058 21059 ],1060 [1061 3,1062 31063 ]1064 ],1065 "cluster": 3,1066 "layer": 4,1067 "object_tags": []1068 },1069 {1070 "Q": "Describe the current lane's direction.",1071 "A": "The current lane is going straight.",1072 "C": null,1073 "qid": 44,1074 "con_up": -1,1075 "con_down": -1,1076 "cluster": 3,1077 "layer": 6,1078 "object_tags": []1079 },1080 {1081 "Q": "Is the ego vehicle affected by a traffic light?",1082 "A": "No, the ego vehicle is not affected by a traffic light.",1083 "C": null,1084 "qid": 5,1085 "con_up": [1086 [1087 2,1088 11089 ]1090 ],1091 "con_down": [1092 [1093 3,1094 01095 ]1096 ],1097 "cluster": 2,1098 "layer": 0,1099 "object_tags": []1100 },1101 {1102 "Q": "How many pedestrians are there?",1103 "A": "There are no pedestrians.",1104 "C": null,1105 "qid": 1,1106 "con_up": [1107 [1108 6,1109 01110 ]1111 ],1112 "con_down": -1,1113 "cluster": 5,1114 "layer": 0,1115 "object_tags": []1116 },1117 {1118 "Q": "What is current time and weather?",1119 "A": "It is noon, raining moderately.",1120 "C": null,1121 "qid": 37,1122 "con_up": -1,1123 "con_down": -1,1124 "cluster": 3,1125 "layer": 1,1126 "object_tags": []1127 },1128 {1129 "Q": "Is there an obstacle on the current road?",1130 "A": "No, there is no obstacle on the current route.",1131 "C": null,1132 "qid": 11,1133 "con_up": [1134 [1135 3,1136 81137 ]1138 ],1139 "con_down": -1,1140 "cluster": 3,1141 "layer": 9,1142 "object_tags": []1143 },1144 {1145 "Q": "What is the current speed limit?",1146 "A": "There's no speed limit now.",1147 "C": null,1148 "qid": 7,1149 "con_up": [1150 [1151 6,1152 01153 ]1154 ],1155 "con_down": [1156 [1157 3,1158 21159 ]1160 ],1161 "cluster": 3,1162 "layer": 7,1163 "object_tags": []1164 }1165 ],1166 "prediction": [1167 {1168 "Q": "Where is the black car that is to the front right of the ego vehicle(<c15858<CAM_FRONT,1061.2,526.3>>) going?",1169 "A": "The black car(<c15858<CAM_FRONT,1061.2,526.3>>) is going straight.",1170 "C": null,1171 "qid": 17,1172 "con_up": [1173 [1174 4,1175 31176 ]1177 ],1178 "con_down": [1179 [1180 4,1181 01182 ]1183 ],1184 "cluster": 4,1185 "layer": 1,1186 "object_tags": [1187 "<c15858<CAM_FRONT,1061.2,526.3>>"1188 ]1189 },1190 {1191 "Q": "What is the moving status of the black car that is to the front right of the ego vehicle(<c15858<CAM_FRONT,1061.2,526.3>>)?",1192 "A": "The black car(<c15858<CAM_FRONT,1061.2,526.3>>) is not moving.",1193 "C": null,1194 "qid": 16,1195 "con_up": [1196 [1197 4,1198 31199 ]1200 ],