---
license: apache-2.0
language:
- en
task_categories:
  - visual-question-answering
  - robotics
tags:
- DriveFusion
- Robotics
- VLA
- VLM
- MultiModal
- AutonomousDriving
---
# DriveFusion-Data

<div align="center">
  <img src="drivefusion_logo.png" alt="DriveFusion Logo" width="300"/>
  <h1>DriveFusionQA</h1>
  <p><strong>An Autonomous Driving Vision-Language Model for Scenario Understanding & Decision Reasoning.</strong></p>

  [![Model License](https://img.shields.io/badge/License-Apache%202.0-green.svg)](https://opensource.org/licenses/Apache-2.0)
  [![Status](https://img.shields.io/badge/Status-Active-success.svg)]()
</div>

---

**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.

This dataset is part of the **DriveFusion** project.

---

## Dataset Overview

DriveFusion-Data provides a comprehensive multimodal dataset for autonomous driving research, including:

- RGB camera images from **360° multi-camera coverage** (front, front-left, front-right, back-left, back-right)  
- LiDAR point clouds  
- Semantic segmentation maps  
- Depth maps  
- Bounding boxes  
- Vehicle and simulator measurements  
- Natural language annotations (VQA, commentary, instruction following)

The dataset is generated using a CARLA-based data collection framework with multi-town, multi-scenario, and multi-sensor configurations.

---

## Data Collection Framework

The data was collected using the **DriveFusion CARLA Data Collection Framework**, which provides:

- Rule-based expert driving using **PDM-Lite**  
- Multi-camera **360° sensor recording** and LiDAR  
- Weather and lighting augmentation  
- Scenario-based route execution  
- Automated batch data generation on clusters (SLURM)  
- Format conversion and dataset validation tools  

**Collection code repository:**  
[https://github.com/DriveFusion/carla-data-collection](https://github.com/DriveFusion/carla-data-collection)

---

## Dataset Sources and Attribution

DriveFusion-Data builds upon several open-source frameworks and datasets:

**Core Simulation:**

- [CARLA Simulator](https://github.com/carla-simulator/carla)  
- [CARLA Leaderboard 2.0](https://github.com/carla-simulator/leaderboard)  
- [Scenario Runner](https://github.com/carla-simulator/scenario_runner)  

**Reference Methods:**

- [DriveLM](https://github.com/OpenDriveLab/DriveLM) (PDM-Lite autopilot and VQA generation)  

**Language Dataset Reference:**

- [SimLingo Dataset](https://huggingface.co/datasets/RenzKa/simlingo)  

Users must comply with the licenses of all referenced frameworks and datasets.

---

## Dataset Format

Two main formats are provided:

**Pre-DriveFusion Format**  
- Raw sensor data and measurements stored in compressed JSON and sensor files.

**DriveFusion Format**  
- Standardized multimodal structure for end-to-end VLA training.  
- Includes aligned sensor data and language annotations.

---

## Intended Use

This dataset is designed for:

- Vision-Language-Action (VLA) model training  
- Autonomous driving research and benchmarking  
- Multimodal perception and planning research  
- Language grounding in driving environments  
- Embodied AI and robotics research

---

## License and Attribution

This dataset is derived from simulation and public frameworks. Users must comply with:

- CARLA license  
- CARLA Leaderboard and Scenario Runner licenses (MIT)  
- DriveLM license  
- SimLingo license  

The DriveFusion framework code is released under **Apache 2.0**. Language annotations and third-party components may have additional license restrictions.

---

## Citation

If you use DriveFusion-Data, please cite:

```bibtex
@misc{drivefusiondata2026,
  title={DriveFusion-Data: A Large-Scale Multimodal Dataset for Autonomous Driving},
  author={Samir, Omar and DriveFusion Team},
  year={2026},
  url={https://huggingface.co/datasets/DriveFusion/DriveFusion-Data}
}
```