Bench2Drive-VL: Benchmarks for Closed-Loop Autonomous Driving with Vision-Language Models
Paper • 2604.01259 • Published
Datasets:
Tasks:
Image-Text-to-Text
Languages:
English
Size:
10M<n<100M
ArXiv:
Tags:
autonomous-driving
License:
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 236, in _generate_tables
pa_table = paj.read_json(
^^^^^^^^^^^^^^
File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
pyarrow.lib.ArrowInvalid: JSON parse error: Column(/QA/perception/[]/con_up) changed from number to array in row 0
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 93, in _split_generators
pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 250, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/utils/json.py", line 90, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 65, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Bench2Drive-VL: Full-Stack Software for Closed-Loop Autonomous Driving with Vision Language Models
Project Page | GitHub | Paper
Bench2Drive-VL is a comprehensive closed-loop benchmark for Vision-Language Models in Autonomous Driving (VLM4AD). It extends the Bench2Drive benchmark by introducing closed-loop evaluation and the DriveCommenter expert model for automated annotation.
This repository contains the natural language annotations for the Bench2Drive-Base1000 dataset. These annotations were generated by the expert model DriveCommenter and provide full-stack VQA pairs covering perception, prediction, planning, and behavior tasks across diverse driving situations in CARLA.
Key Features
- DriveCommenter: A closed-loop generator that automatically generates diverse, behavior-grounded question-answer pairs for all driving situations in CARLA.
- Unified Protocol: An interface that allows modern VLMs to be directly plugged into the Bench2Drive closed-loop environment for comparison.
- Full-Stack VQA: Annotations covering low-level perception (objects, signs, lanes) and high-level reasoning for planning and behavior.
License
All assets and code are under the Apache 2.0 license unless specified otherwise.
Citation
If you use this dataset in your research, please cite:
@article{Bench2DriveVL,
title={Bench2Drive-VL: Benchmarks for Closed-Loop Autonomous Driving with Vision-Language Models},
author={Xiaosong Jia, Yuqian Shao, Zhenjie Yang, Qifeng Li, Zhiyuan Zhang, Junchi Yan},
year={2026},
eprint={2604.01259},
archivePrefix={arXiv},
}
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