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https://github.com/OpenDriveLab/DriveLM/assets/54334254/cddea8d6-9f6e-4e7e-b926-5afb59f8dce2

Highlights

🔥 We instantiate datasets (DriveLM-Data) built upon nuScenes and CARLA, and propose a VLM-based baseline approach (DriveLM-Agent) for jointly performing Graph VQA and end-to-end driving.

🏁 DriveLM serves as a main track in the CVPR 2024 Autonomous Driving Challenge. Everything you need for the challenge is HERE, including baseline, test data and submission format and evaluation pipeline!

News

• [2025/01/08] Drive-Bench release! In-depth analysis in what are DriveLM really benchmarking. Take a look at arxiv.
• [2024/07/16] DriveLM official leaderboard reopen!
• [2024/07/01] DriveLM got accepted to ECCV 2024! Congrats to the team!
• [2024/06/01] Challenge ended up! See the final leaderboard.
• [2024/03/25] Challenge test server is online and the test questions are released. Check it out!
• [2024/02/29] Challenge repo release. Baseline, data and submission format, evaluation pipeline. Have a look!
• [2023/08/25] DriveLM-nuScenes demo released.
• [2023/12/22] DriveLM-nuScenes full v1.0 and paper released. <!-- > - [Early 2024] DriveLM-Agent inference code. --> <!-- > - Note: We plan to release a simple, flexible training code that supports multi-view inputs as a starter kit for the AD challenge (stay tuned for details). -->

Table of Contents

1. Highlights
2. Getting Started
   • Prepare DriveLM-nuScenes
     
3. Current Endeavors and Future Horizons
4. TODO List
5. DriveLM-Data
   • Comparison and Stats
   • GVQA Details
   • Annotation and Features
6. License and Citation
7. Other Resources

Getting Started

To get started with DriveLM: - Prepare DriveLM-nuScenes - Challenge devkit - More content coming soon

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Current Endeavors and Future Directions

• The advent of GPT-style multimodal models in real-world applications motivates the study of the role of language in driving.
• Date below reflects the arXiv submission date.
• If there is any missing work, please reach out to us!

DriveLM attempts to address some of the challenges faced by the community.

• Lack of data: DriveLM-Data serves as a comprehensive benchmark for driving with language.
• Embodiment: GVQA provides a potential direction for embodied applications of LLMs / VLMs.
• Closed-loop: DriveLM-CARLA attempts to explore closed-loop planning with language.

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TODO List

• [x] DriveLM-Data
  • [x] DriveLM-nuScenes
  • [x] DriveLM-CARLA
• [x] DriveLM-Metrics
  • [x] GPT-score
• [ ] DriveLM-Agent
  • [x] Inference code on DriveLM-nuScenes
  • [ ] Inference code on DriveLM-CARLA

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DriveLM-Data

We facilitate the Perception, Prediction, Planning, Behavior, Motion tasks with human-written reasoning logic as a connection between them. We propose the task of GVQA on the DriveLM-Data.

📊 Comparison and Stats

DriveLM-Data is the first language-driving dataset facilitating the full stack of driving tasks with graph-structured logical dependencies. <!--

Links to details about GVQA task, Dataset Features, and Annotation.

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License and Citation

All assets and code in this repository are under the Apache 2.0 license unless specified otherwise. The language data is under CC BY-NC-SA 4.0. Other datasets (including nuScenes) inherit their own distribution licenses. Please consider citing our paper and project if they help your research.

BibTeX @article{sima2023drivelm, 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{contributors2023drivelmrepo, title={DriveLM: Driving with Graph Visual Question Answering}, author={DriveLM contributors}, howpublished={\url{https://github.com/OpenDriveLab/DriveLM}}, year={2023} }

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Other Resources

OpenDriveLab - DriveAGI | UniAD | OpenLane-V2 | Survey on E2EAD - Survey on BEV Perception | BEVFormer | OccNet

Autonomous Vision Group - tuPlan garage | CARLA garage | Survey on E2EAD - PlanT | KING | TransFuser | NEAT

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