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license: apache-2.0 |
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language: |
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- en |
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task_categories: |
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- visual-question-answering |
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- robotics |
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tags: |
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- DriveFusion |
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- Robotics |
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- VLA |
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- VLM |
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- MultiModal |
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- AutonomousDriving |
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--- |
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# DriveFusion-Data |
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<div align="center"> |
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<img src="drivefusion_logo.png" alt="DriveFusion Logo" width="300"/> |
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<h1>DriveFusionQA</h1> |
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<p><strong>An Autonomous Driving Vision-Language Model for Scenario Understanding & Decision Reasoning.</strong></p> |
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[](https://opensource.org/licenses/Apache-2.0) |
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[]() |
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</div> |
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--- |
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**DriveFusion-Data** is a large-scale multimodal autonomous driving dataset collected in the CARLA simulator using a privileged rule-based expert policy (PDM-Lite). The dataset contains rich sensor data, vehicle measurements, and language annotations for training vision-language-action (VLA) models. |
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This dataset is part of the **DriveFusion** project. |
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--- |
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## Dataset Overview |
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DriveFusion-Data provides a comprehensive multimodal dataset for autonomous driving research, including: |
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- RGB camera images from **360° multi-camera coverage** (front, front-left, front-right, back-left, back-right) |
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- LiDAR point clouds |
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- Semantic segmentation maps |
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- Depth maps |
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- Bounding boxes |
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- Vehicle and simulator measurements |
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- Natural language annotations (VQA, commentary, instruction following) |
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The dataset is generated using a CARLA-based data collection framework with multi-town, multi-scenario, and multi-sensor configurations. |
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--- |
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## Data Collection Framework |
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The data was collected using the **DriveFusion CARLA Data Collection Framework**, which provides: |
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- Rule-based expert driving using **PDM-Lite** |
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- Multi-camera **360° sensor recording** and LiDAR |
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- Weather and lighting augmentation |
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- Scenario-based route execution |
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- Automated batch data generation on clusters (SLURM) |
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- Format conversion and dataset validation tools |
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**Collection code repository:** |
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[https://github.com/DriveFusion/carla-data-collection](https://github.com/DriveFusion/carla-data-collection) |
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--- |
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## Dataset Sources and Attribution |
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DriveFusion-Data builds upon several open-source frameworks and datasets: |
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**Core Simulation:** |
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- [CARLA Simulator](https://github.com/carla-simulator/carla) |
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- [CARLA Leaderboard 2.0](https://github.com/carla-simulator/leaderboard) |
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- [Scenario Runner](https://github.com/carla-simulator/scenario_runner) |
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**Reference Methods:** |
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- [DriveLM](https://github.com/OpenDriveLab/DriveLM) (PDM-Lite autopilot and VQA generation) |
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**Language Dataset Reference:** |
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- [SimLingo Dataset](https://huggingface.co/datasets/RenzKa/simlingo) |
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Users must comply with the licenses of all referenced frameworks and datasets. |
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--- |
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## Dataset Format |
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Two main formats are provided: |
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**Pre-DriveFusion Format** |
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- Raw sensor data and measurements stored in compressed JSON and sensor files. |
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**DriveFusion Format** |
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- Standardized multimodal structure for end-to-end VLA training. |
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- Includes aligned sensor data and language annotations. |
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--- |
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## Intended Use |
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This dataset is designed for: |
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- Vision-Language-Action (VLA) model training |
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- Autonomous driving research and benchmarking |
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- Multimodal perception and planning research |
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- Language grounding in driving environments |
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- Embodied AI and robotics research |
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--- |
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## License and Attribution |
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This dataset is derived from simulation and public frameworks. Users must comply with: |
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- CARLA license |
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- CARLA Leaderboard and Scenario Runner licenses (MIT) |
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- DriveLM license |
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- SimLingo license |
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The DriveFusion framework code is released under **Apache 2.0**. Language annotations and third-party components may have additional license restrictions. |
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--- |
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## Citation |
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If you use DriveFusion-Data, please cite: |
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```bibtex |
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@misc{drivefusiondata2026, |
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title={DriveFusion-Data: A Large-Scale Multimodal Dataset for Autonomous Driving}, |
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author={Samir, Omar and DriveFusion Team}, |
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year={2026}, |
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url={https://huggingface.co/datasets/DriveFusion/DriveFusion-Data} |
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} |
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``` |
