📄️ Set Up the Environment
This page includes preparations before running our project.
📄️ Generate VQAs
Bench2Drive-VL integrates DriveCommenter to generate VQAs from static dataset or CARLA runtime. DriveCommenter is a rule-based model modified from the open-source annotation script of DriveLM-CARLA dataset. Different from DriveLM-CARLA annotating script, DriveCommenter
📄️ Closed-Loop Inference
When doing closed-loop inference, Bench2Drive-VL will apply DriveCommenter to generate real time VQAs, then let the VLM to control the ego vehicle. Question details, ground truths and VLM's answers of VQAs will be saved under ./output for latter evaluation. For planning section, we utilize the original Bench2Drive metrics.
📄️ Open-Loop Inference
Bench2Drive-VL supports open-loop VQA evaluation via VQA dataset.
📄️ Evaluation
Inference results from both closed-loop and open-loop framework shares the same format, so they can both be evaluated by evaluation module.