---
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"
```