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README.md

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 SimLingo-Data is a large-scale autonomous driving CARLA 2.0 dataset containing sensor data, action labels, a wide range of simulator state information, and language labels for VQA, commentary and instruction following. The driving data is collected with the privileged rule-based expert [PDM-Lite](https://github.com/OpenDriveLab/DriveLM/tree/DriveLM-CARLA/pdm_lite). 
 
 ## Dataset Statistics
+- **Large-scale dataset**: 3,308,315 total samples (note: these are not from unique routes as the provided CARLA route files are limited)
 - **Diverse Scenarios:** Covers 38 complex scenarios, including urban traffic, participants violating traffic rules, and high-speed highway driving
-- **Focused Evaluation:** Short routes with 1 or 3 scenarios per route
+- **Focused Evaluation:** Short routes with 1 scenario (81.5%) or 3 scenarios (18.5%) per route
 - **Data Types**: RGB images (.jpg), LiDAR point clouds (.laz), Sensor measurements (.json.gz), Bounding boxes (.json.gz), Commentary text, Dreamer model outputs
 
 ## Dataset Structure