DriveLM: Driving with Graph Visual Question Answering

Autonomous Driving Challenge 2024 Driving-with-Language Leaderboard.

drivelm_nus_demo_v2_1.mp4

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

• [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. Chekc 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.

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

• DriveLM-Data
  • DriveLM-nuScenes
  • DriveLM-CARLA
• DriveLM-Metrics
  • GPT-score
• DriveLM-Agent
  • 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.

@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}
}

@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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