| --- |
| 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>DriveFusion-Data</h1> |
|
|
| [](https://opensource.org/licenses/Apache-2.0) |
| []() |
| </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} |
| } |
| ``` |
