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{"start_frame": 1917, "end_frame": 2100, "instruction_args": [15], "instruction": "Turn-03-R-dis", "instruction_id": 14, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 2185, "end_frame": 2363, "instruction_args": [14], "instruction": "Turn-03-R-dis", "instruction_id": 14, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 1120, "end_frame": 1187, "instruction_args": [], "instruction": "Turn-01-L", "instruction_id": 0, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 1350, "end_frame": 1521, "instruction_args": [], "instruction": "Turn-01-L", "instruction_id": 0, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 577, "end_frame": 621, "instruction_args": [], "instruction": "Turn-01-R", "instruction_id": 1, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 1999, "end_frame": 2100, "instruction_args": [], "instruction": "Turn-01-R", "instruction_id": 1, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 2268, "end_frame": 2363, "instruction_args": [], "instruction": "Turn-01-R", "instruction_id": 1, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 1027, "end_frame": 1187, "instruction_args": [7], "instruction": "Turn-01-L-dis", "instruction_id": 2, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 1268, "end_frame": 1521, "instruction_args": [12], "instruction": "Turn-01-L-dis", "instruction_id": 2, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 455, "end_frame": 621, "instruction_args": [20], "instruction": "Turn-01-R-dis", "instruction_id": 3, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 1988, "end_frame": 2100, "instruction_args": [2], "instruction": "Turn-01-R-dis", "instruction_id": 3, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}
{"start_frame": 2188, "end_frame": 2363, "instruction_args": [12], "instruction": "Turn-01-R-dis", "instruction_id": 3, "town_id": 1, "weather_id": 12, "route_path": "routes_town01_long_w12_08_13_06_50_01/", "route_frames": 2607}

LMDrive 64K Dataset Card

LMDrive Dataset consists of 64K instruction-sensor-control data clips collected in the CARLA simulator, where each clip includes one navigation instruction, several notice instructions, a sequence of multi-modal multi-view sensor data, and control signals. The duration of the clip spans from 2 to 20 seconds.

Dataset details

  • data/: dataset folder, the entire dataset contains about 2T of data.
    • data/Town01: sub dataset folder, which only consists of the data folder for the Town01
    • data/Town02: sub dataset folder, which only consists of the data folder for the Town02
    • ...
  • dataset_index.txt: the data list for pretraining the vision encoder
  • navigation_instruction_list.txt: the data list for instruction finetuning
  • notice_instruction_list.json: the data list for instruction finetuning (optional if the notice instruction data is not engaged in the training)

Dataset date: LMDrive-1.0 Dataset was collected in September 2023.

Paper or resources for more information:

Github: https://github.com/opendilab/LMDrive/README.md

Paper: https://arxiv.org/abs/2312.07488

License: Attribution-NonCommercial 4.0 International

Where to send questions or comments about the model: https://github.com/opendilab/LMDrive/issues

Intended use

Primary intended uses:

The primary use of LMDrive is research on large multimodal models for autonomous driving.

Primary intended users:

The primary intended users of the model are researchers and hobbyists in computer vision, large multimodal model, autonomous driving, and artificial intelligence.

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