DriveLM: Graph‑Based Visual Question Answering for Driving

Dataset Overview

DriveLM‑Data consists of two parts: DriveLM‑nuScenes and DriveLM‑CARLA. At present, only the training split of DriveLM‑nuScenes is released.

DriveLM‑nuScenes Dataset

• Data File: v1_0_train_nus.json
• Content: Contains a series of questions and answers.
• Image Data: A subset of images used in DriveLM is provided.

Data Structure

The data should be organized as follows:

DriveLM ├── data/ │ ├── QA_dataset_nus/ │ │ ├── v1_0_train_nus.json │ ├── nuscenes/ │ │ ├── samples/

License and Citation

The dataset is licensed under CC‑BY‑NC‑SA 4.0. When using the dataset, please cite the following publications:

BibTeX @article{drivelm_paper2023, title={DriveLM: Driving with Graph Visual Question Answering}, author={Sima, Chonghao and Renz, Katrin and Chitta, Kashyap and Chen, Li and Zhang, Hanxue and Xie, Chengen and Luo, Ping and Geiger, Andreas and Li, Hongyang}, journal={arXiv preprint arXiv:2312.14150}, year={2023} }

BibTeX @misc{drivelm_repo2023, title={DriveLM: Driving with Graph Visual Question Answering}, author={DriveLM contributors}, howpublished={url{https://github.com/OpenDriveLab/DriveLM}}, year={2023} }