| license: mit | |
| # CommaVQ Trajectory | |
| <img src="media/demo.gif" > | |
| Based on the [commavq](https://huggingface.co/datasets/commaai/commavq) dataset. | |
| Contains images of highway driving along with the corresponding control signal (trajectory). | |
| The trajectory has been quantized into one of 256 template trajectories. | |
| <img src="trajectory_templates/trajectory_templates_128.png" > | |
| This data is formatted to train the LLaVA model: | |
| ```json | |
| [ | |
| { | |
| "id": "4376800841", | |
| "image": "data_0_to_2500/324a487ead6977b02c746d5117e9825a_16/841.png", | |
| "conversations": [ | |
| { | |
| "from": "human", | |
| "value": "<image>\nYou are DriveLLaVA, a self-driving car. You will select the appropriate trrajectory token given the above image as context.\nYou may select one from the following templates: ,!,\",#,$,%,&,',(,),*,+,,,-,.,/,0,1,2,3,4,5,6,7,8,9,:,;,<,=,>,?,@,A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,[,],^,_,`,a,b,c,d,e,f,g,h,i,j,k,l,m,n,o,p,q,r,s,t,u,v,w,x,y,z,{,|,},~,¡,¢,£,¤,¥,¦,§,¨,©,ª,«,¬,®,¯,°,±,²,³,´,µ,¶,·,¸,¹,º,»,¼,½,¾,¿,À,Á,Â,Ã,Ä,Å,Æ,Ç,È,É,Ê,Ë,Ì,Í,Î,Ï,Ð,Ñ,Ò,Ó,Ô,Õ,Ö,×,Ø,Ù,Ú,Û,Ü,Ý,Þ,ß,à,á,â,ã,ä,å,æ,ç,è,é,ê,ë,ì,í,î,ï,ð,ñ,ò,ó,ô,õ,ö,÷,ø,ù,ú,û,ü,ý,þ,ÿ,Ā,ā,Ă,ă,Ą,ą,Ć,ć,Ĉ,ĉ,Ċ,ċ,Č,č,Ď,ď,Đ,đ,Ē,ē,Ĕ,ĕ,Ė,ė,Ę,ę,Ě,ě,Ĝ,ĝ,Ğ,ğ,Ġ,ġ,Ģ,ģ,Ĥ,ĥ,Ħ,ħ,Ĩ,ĩ,Ī,ī,Ĭ,ĭ,Į,į,İ,ı,IJ,ij,Ĵ,ĵ,Ķ,ķ,ĸ,Ĺ,ĺ,Ļ,ļ,Ľ,ľ,Ŀ,ŀ,Ł,ł,Ń" | |
| }, | |
| { | |
| "from": "gpt", | |
| "value": ")" | |
| } | |
| ] | |
| } | |
| ] | |
| ``` | |
| ## Getting Started | |
| ``` | |
| cd ~/Datasets/ | |
| GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/AdityaNG/commavq-trajectory ~/Datasets/commavq | |
| cd ~/Datasets/commavq | |
| git lfs pull | |
| unzip "*.zip" | |
| ``` | |