| 0 | Questionperception | What are objects to the back of the ego car? |
| GT Answer | There are three barriers, one motorcycle, many cars, one construction vehicle, one bus, and two traffic cones behind the ego car. |
| InternVL2-2B | To the back of the ego car, there are several objects and structures visible in the image. These objects include:
1. **Construction Ahead Sign**: A diamond-shaped sign indicating "Construction Ahead" with an arrow pointing to the right.
2. **Red Fence**: A red fence running parallel to the road.
3. **Building**: A large building with multiple windows and a flat roof.
4. **White Tent**: A white tent on the left side of the image.
5. **Parking Lot**: A parking lot with several cars and a white car in the foreground.
6. **White Building**: A white building with multiple windows and a flat roof.
7. **Truck**: A white truck parked on the right side of the image.
8. **Pole**: A tall pole in the background.
9. **Street Sign**: A street sign indicating "One Way" with an arrow pointing to the right.
10. **Parked Car**: A parked car on the right side of the image.
These objects provide context to the environment and help in understanding the layout and surroundings of the ego car. |
| Mini-InternVL2-2B-DA-DriveLM | There are many barriers, one construction vehicle, one bus, one truck, and one car behind the ego car. |
| llama_adapter_v2_multimodal7b | There are construction signs to the back of the ego car. |
| InternVL2-2b-LoRA-25k-drivelm | There are two cars, one pedestrian, and one traffic cone behind the ego car. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | There are many cars and two pedestrians behind the ego car. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | There are many cars, one pedestrian, and one truck behind the ego car. |
| InternVL2-2b-LoRA-300k-drivelm | There are many cars, one truck, and one trailer behind the ego car. |
| llava-v1.6-mistral-7b-hf | The image shows a series of photos taken from the perspective of a car's rearview mirror. In the first photo, there is a construction sign indicating that construction is ahead. In the second photo, there is a large white dome structure, which could be a part of a sports stadium or a similar large-scale building. In the third photo, there is a red construction barrier, indicating that the road ahead is closed or restricted. In the fourth photo, there is a large building with a red facade, which could be a commercial or industrial building. In the fifth photo, there is a large red construction barrier, similar to the one in the third photo. In the sixth photo, there is a large building with a white facade, which could be a commercial or industrial building. In the seventh photo, there is a large red construction barrier, similar to the one in the third photo. In the eighth photo, there is a large building with a white facade, which could be a commercial or industrial building. In the ninth photo, there is a large red construction barrier, similar to the one in the third photo. In the tenth photo, there is a large building with a white facade, which could be a commercial or industrial building. |
| 1 | Questionperception | What is the moving status of object <c3,CAM_FRONT,1074.2,474.2>? Please select the correct answer from the following options: A. Stopped. B. Back up. C. Going ahead. D. Drive backward. |
| GT Answer | C |
| InternVL2-2B | The moving status of object <c3,CAM_FRONT,1074.2,474.2> is C. Going ahead. |
| Mini-InternVL2-2B-DA-DriveLM | C |
| llama_adapter_v2_multimodal7b | The moving status of object <c3,CAM_FRONT,1074.2,474.2> is "Going ahead." |
| InternVL2-2b-LoRA-25k-drivelm | C |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | C |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | C |
| InternVL2-2b-LoRA-300k-drivelm | C. Going ahead. |
| llava-v1.6-mistral-7b-hf | A. Stopped. |
| 2 | Questionprediction | What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take? |
| GT Answer | Firstly, notice that <c1,CAM_FRONT_RIGHT,650.0,675.8>. The object is a traffic cone, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c5,CAM_FRONT_LEFT,854.2,565.8>. The object is going ahead, so the ego vehicle should also continue going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,1074.2,474.2>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. |
| InternVL2-2B | When the ego vehicle is getting to the next possible location, it should notice the construction fence first. The state of the object perceived by the ego vehicle as the first object to notice is that the construction fence is present. The action the ego vehicle should take is to proceed with caution and ensure it is aware of the construction area ahead. The object that the ego vehicle should notice second is the road sign indicating "NEW WAY." The state of the object perceived by the ego vehicle as the second object to notice is that the road sign is present. The action the ego vehicle should take is to proceed with caution and ensure it is aware of the new way to the next location. The object that the ego vehicle should notice third is the road sign indicating "ONE WAY." The state of the object perceived by the ego vehicle as the third object to notice is that the road sign is present. The action the ego vehicle should take is to proceed with caution and ensure it is aware of the one way to the next location. |
| Mini-InternVL2-2B-DA-DriveLM | Firstly, notice that the object in front of the ego vehicle is a traffic sign. The ego vehicle should slow down and proceed. Secondly, notice that the object in front of the ego vehicle is stationary. The ego vehicle should continue ahead at the same speed. Thirdly, notice that the object in front of the ego vehicle is stationary. The ego vehicle should continue ahead at the same speed. |
| llama_adapter_v2_multimodal7b | When the ego vehicle is getting to the next possible location, it should first notice the blue truck parked on the side of the road. The ego vehicle should then take the appropriate action, such as slowing down or changing lanes if necessary to maintain a safe distance from the truck. Next, the ego vehicle should notice the red stop sign. The ego vehicle should come to a complete stop at the stop sign, ensuring that it is in compliance with traffic rules and regulations. Finally, the ego vehicle should notice the blue building. The ego vehicle should continue driving, taking care to observe any potential obstacles or changes in traffic conditions as it approaches the building. |
| InternVL2-2b-LoRA-25k-drivelm | Firstly, notice that <c3,CAM_FRONT,1080.8,485.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,1080.8,485.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,1080.8,485.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | Firstly, notice <c1,CAM_FRONT_RIGHT,650.0,675.8>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c5,CAM_FRONT_LEFT,854.2,565.8>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c3,CAM_FRONT,1074.2,474.2>. The object is moving ahead, so the ego vehicle should continue ahead at the same speed. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | Firstly, notice <c1, CAM_FRONT, 1400.0, 530.0>. The object is approaching, so the ego should slow down. Secondly, notice <c2, CAM_FRONT, 1400.0, 530.0>. The object is approaching, so the ego should slow down. Thirdly, notice <c3, CAM_FRONT, 1400.0, 530.0>. The object is approaching, so the ego should slow down. |
| InternVL2-2b-LoRA-300k-drivelm | Firstly, notice that <c3,CAM_FRONT,1080.0,490.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,1080.0,490.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT,1080.0,490.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. |
| llava-v1.6-mistral-7b-hf | The images provided show a sequence of views from a vehicle's perspective, likely from a camera mounted on the front of the vehicle. Here's a description of the objects and actions the ego vehicle should consider:
1. First object: The orange construction sign ahead. The sign indicates that there is construction work ahead, and the ego vehicle should slow down and be prepared to follow any temporary traffic patterns or detours.
2. Second object: The crosswalk ahead. The ego vehicle should be prepared to stop if there are pedestrians crossing or if the traffic light indicates that it's safe to stop.
3. Third object: The red barrier or fence on the right side of the road. The ego vehicle should be cautious and maintain a safe distance from the barrier, as it might be a temporary or permanent obstruction.
4. Fourth object: The white building ahead. The ego vehicle should be aware of the building and any potential turns or intersections that may be ahead.
5. Fifth object: The white building on the left side of the road. The ego vehicle should be aware of the building and any potential turns or intersections that may be ahead.
6. Sixth object: The orange construction sign ahead. The ego vehicle should be prepared to stop or slow down if necessary, as there might be construction work ahead.
7. Seventh object: The white building ahead. The ego vehicle should be aware of the building and any potential turns or intersections that may be ahead.
8. Eighth object: The white building on the left side of the road. The ego vehicle should be aware of the building and any potential turns or intersections that may be ahead.
9. Ninth object: The orange construction sign ahead. The ego vehicle should be prepared to stop or slow down if necessary, as there might be construction work ahead.
10. Tenth object: The white building ahead. The ego vehicle should be aware of the building and any potential turns or intersections that may be ahead.
Throughout the sequence, the ego vehicle should maintain a safe speed, be prepared to stop or slow down as necessary, and be aware of any pedestrians, cyclists, or other vehicles that may be present. |
| 3 | Questionprediction | Is <c1,CAM_FRONT_RIGHT,650.0,675.8> a traffic sign or a road barrier? |
| GT Answer | Yes. |
| InternVL2-2B | To determine if the coordinates <c1,CAM_FRONT_RIGHT,650.0,675.8> represent a traffic sign or a road barrier, let's analyze the image closely.
1. **Traffic Sign Analysis**:
- **Shape and Orientation**: Traffic signs are typically rectangular or diamond-shaped and are placed at intersections or on the sides of roads.
- **Position**: The coordinates provided are within the right edge of the image, which is not typical for traffic signs.
- **Content**: The coordinates are not visible in the image, so we cannot confirm the content.
2. **Road Barrier Analysis**:
- **Shape and Orientation**: Road barriers are usually rectangular or diamond-shaped and are placed at the edges of roads or in construction zones.
- **Position**: The coordinates provided are within the right edge of the image, which is consistent with the typical placement of road barriers.
- **Content**: The coordinates are not visible in the image, so we cannot confirm the content.
Based on the analysis, the coordinates <c1,CAM_FRONT_RIGHT,650.0,675.8> are most likely a road barrier. |
| Mini-InternVL2-2B-DA-DriveLM | No. |
| llama_adapter_v2_multimodal7b | The image does not provide enough information to definitively determine whether the object is a traffic sign or a road barrier. However, given that it is described as a "road barrier" and "traffic sign," it is more likely that it is a traffic sign. |
| InternVL2-2b-LoRA-25k-drivelm | No. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | No. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | No. |
| InternVL2-2b-LoRA-300k-drivelm | No. |
| llava-v1.6-mistral-7b-hf | The image you've provided appears to show a series of construction or road work signs and barriers. The sign labeled <c1,CAM_FRONT_RIGHT,650.0,675.8> is a traffic sign, specifically a construction ahead sign. It is designed to alert drivers that there is construction work ahead and to prepare for potential changes in traffic patterns or road conditions. |
| 4 | Questionplanning | What actions could the ego vehicle take based on <c2,CAM_FRONT,1286.4,428.3>? Why take this action and what's the probability? |
| GT Answer | The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high. |
| InternVL2-2B | The ego vehicle, represented by the car in the image, is currently positioned at a crossroad with multiple lanes and a construction zone in the background. The action it could take is to proceed straight, as indicated by the road sign "ROUTE TO" and the directional arrow.
### Reasoning:
1. **Proximity to the Crossroad**: The ego vehicle is close to the intersection, which is a common area for vehicles to make turns or proceed straight.
2. **Traffic Flow**: The road sign "ROUTE TO" suggests that there is a direct path to the intersection, making it a suitable area for a turn.
3. **Directional Indicator**: The directional arrow on the road sign indicates that the vehicle should take the right turn.
### Probability:
Given the context and the information available, the probability of the ego vehicle taking this action is high. The road sign provides clear guidance, and the presence of the arrow confirms the direction to take. The ego vehicle is likely to proceed straight based on the information provided by the road sign. |
| Mini-InternVL2-2B-DA-DriveLM | The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high. |
| llama_adapter_v2_multimodal7b | Based on the coordinates <c2,CAM_FRONT,1286.4,428.3>, the ego vehicle is likely to take the action of turning left. The probability of the vehicle turning left is 100% as the coordinates indicate that the vehicle is at the intersection of two streets, and turning left would be the most common and logical action for the vehicle to take. |
| InternVL2-2b-LoRA-25k-drivelm | The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high. |
| InternVL2-2b-LoRA-300k-drivelm | The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high. |
| llava-v1.6-mistral-7b-hf | The image you've provided appears to be a sequence of images showing a vehicle's perspective at different points in time, likely from a camera mounted on the front of the vehicle. The sequence seems to be capturing the vehicle's movement through an intersection or construction zone.
Based on the image with the label <c2,CAM_FRONT,1286.4,428.3>, the vehicle is approaching a construction zone or a road work area. The probability of the vehicle needing to take certain actions depends on the specific conditions at the time the image was taken. However, here are some general actions that the vehicle could take:
1. **Slow Down**: As the vehicle approaches the construction zone, it should reduce its speed to comply with any posted speed limits and to ensure safety.
2. **Follow Traffic Signs**: The vehicle should pay attention to any traffic signs, such as the construction ahead sign, and follow their instructions.
3. **Prepare for Lane Changes**: If the vehicle needs to change lanes due to the construction, it should signal its intentions well in advance and check for oncoming traffic or pedestrians.
4. **Be Alert for Construction Workers**: Construction zones often have workers who may be moving around or performing tasks. The vehicle should be prepared to stop or slow down if necessary to avoid accidents.
5. **Follow Traffic Control**: If there are traffic controllers present, the vehicle should follow their instructions.
6. **Be Prepared for Unexpected Changes**: Construction zones can be unpredictable, with sudden changes in traffic patterns or the appearance of construction equipment. The vehicle should stay alert and be prepared to react to any unexpected changes.
The probability of needing to take these actions depends on the specific conditions at the time the image was taken, including the speed of the vehicle, the presence of construction workers or equipment, and the nature of the construction work itself. It's important for the driver to be attentive and prepared to adapt to the changing conditions in the construction zone. |
| 5 | Questionplanning | What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,1286.4,428.3>? |
| GT Answer | No such action will lead to a collision. |
| InternVL2-2B | The ego vehicle is approaching a construction area marked with a "CONSTRUCTION AHEAD" sign. Here are the actions that can lead to a collision with the vehicle:
1. **Driving too fast**: The ego vehicle may be driving too fast, especially if it is not paying attention to the construction area. The construction area is likely to be a busy area with moving vehicles and workers, and the ego vehicle may not be able to react quickly enough to avoid collisions.
2. **Not yielding**: The ego vehicle may not be yielding to any other vehicles or pedestrians in the area. If there are other vehicles or pedestrians around, the ego vehicle may not be able to stop or slow down quickly enough to avoid a collision.
3. **Not paying attention**: The ego vehicle may not be paying attention to the construction area, which could include other vehicles, pedestrians, or construction workers. The ego vehicle may not be aware of the construction area's presence and could potentially collide with it.
4. **Not following traffic rules**: The ego vehicle may not be following traffic rules, such as stopping at a red light or stop sign, which could lead to a collision with the construction area.
5. **Not using turn signals**: The ego vehicle may not be using turn signals, which could make other drivers less aware of the ego vehicle's intentions and potentially lead to a collision.
6. **Not maintaining a safe distance**: The ego vehicle may not be maintaining a safe distance from the construction area, which could result in a collision if the construction area suddenly moves or changes direction.
7. **Not braking**: The ego vehicle may not be braking in time to avoid the construction area, especially if it is not paying attention to the area's presence.
8. **Not using a lane change**: The ego vehicle may not be using a lane change to avoid the construction area, which could lead to a collision if the area is moving or changing direction.
9. **Not stopping at a stop sign**: The ego vehicle may not be stopping at a stop sign, which could lead to a collision if the area is moving or changing direction.
10. **Not using a pedestrian crosswalk**: The ego vehicle may not be using a pedestrian crosswalk, which could lead to a collision if pedestrians are crossing the road in front of the vehicle.
In summary, the ego vehicle must be aware of the construction area, slow down, yield, and be attentive to other vehicles and pedestrians in the area |
| Mini-InternVL2-2B-DA-DriveLM | Accelerating and going straight. |
| llama_adapter_v2_multimodal7b | The ego vehicle is driving down the street, and it is approaching a red traffic light at an intersection. If the ego vehicle continues to drive forward without stopping, it may collide with the blue car that is currently stopped at the red light. The ego vehicle should come to a complete stop, as indicated by the red light, to avoid a collision with the blue car. Additionally, the ego vehicle should be cautious of other vehicles and pedestrians in the area, as they may also be approaching the intersection or waiting to cross. |
| InternVL2-2b-LoRA-25k-drivelm | Accelerating and going straight. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | Accelerating and going straight. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | Accelerating and going straight. |
| InternVL2-2b-LoRA-300k-drivelm | Accelerating and going straight. |
| llava-v1.6-mistral-7b-hf | The image you've provided shows a series of snapshots from a vehicle's perspective, likely taken from a dashcam or a similar device. These snapshots are meant to illustrate the actions that can lead to a collision with a construction zone, as indicated by the "CAM_FRONT" label.
Here are the actions that can lead to a collision with the construction zone, as depicted in the images:
1. **CAM_FRONT_LEFT**: The vehicle is approaching the construction zone from the left side of the road. If the driver does not slow down or change lanes as required, they could collide with the construction zone.
2. **CAM_FRONT**: The vehicle is now in the construction zone. The driver should be prepared to stop or slow down further as needed.
3. **CAM_FRONT_RIGHT**: The vehicle is now on the right side of the road, still within the construction zone. The driver should continue to follow any traffic control signals and signs, and be prepared for any changes in the road layout or traffic patterns.
4. **CAM_BACK_LEFT**: The vehicle is now behind the construction zone, looking back at the construction area. The driver should maintain a safe distance from the construction zone and be prepared for any sudden stops or changes in traffic flow.
5. **CAM_BACK_RIGHT**: The vehicle is now further back, still behind the construction zone. The driver should continue to monitor the traffic situation ahead and be prepared to react to any changes in the road conditions or traffic patterns.
6. **CAM_BACK_RIGHT**: The vehicle is still behind the construction zone, but now the construction zone is out of view. The driver should continue to follow any traffic control signals and signs, and be prepared for any changes in the road layout or traffic patterns.
7. **CAM_BACK_RIGHT**: The vehicle is now even further back, still behind the construction zone. The driver should continue to monitor the traffic situation ahead and be prepared for any changes in the road conditions or traffic patterns.
8. **CAM_BACK_RIGHT**: The vehicle is now even further back, still behind the construction zone. The driver should continue to follow any traffic control signals and signs, and be prepared for any changes in the road layout or traffic patterns.
9. **CAM_BACK_RIGHT**: The vehicle is now even further back, still behind the construction zone. The driver |
| 6 | Questionplanning | In this scenario, what are safe actions to take for the ego vehicle? |
| GT Answer | Keep going at the same speed, decelerate gradually without braking. |
| InternVL2-2B | Based on the image, the safe actions for the ego vehicle would include maintaining a safe following distance from the vehicle in front of it, as indicated by the "CAM_FRONT_LEFT" sign. The vehicle should also be prepared to stop if necessary, as suggested by the "CAM_FRONT" sign, which indicates a potential hazard ahead. Additionally, the vehicle should be cautious of the construction area, as indicated by the "CAM_FRONT_RIGHT" sign, which may present a risk of construction-related accidents or debris. The vehicle should also be aware of the "CAM_BACK_LEFT" sign, which suggests a potential hazard on the left side of the road, and the "CAM_BACK_RIGHT" sign, which indicates a potential hazard on the right side of the road. The vehicle should be prepared to slow down or stop if necessary to avoid any potential hazards. |
| Mini-InternVL2-2B-DA-DriveLM | Keep going at the same speed, decelerate gradually without braking. |
| llama_adapter_v2_multimodal7b | In the image, there are multiple vehicles, including a blue car, a truck, and a bus, all driving on a street with a traffic light. To ensure safety, the ego vehicle should follow the traffic light signals, which are designed to regulate traffic flow and minimize the risk of accidents. The driver should also maintain a safe distance from other vehicles, especially the truck and bus, as they may have larger blind spots and require more time to react to sudden changes in traffic. Additionally, the driver should be attentive to the surroundings, including pedestrians and other vehicles, and adjust their speed and maneuvers accordingly to avoid collisions and ensure a safe driving experience. |
| InternVL2-2b-LoRA-25k-drivelm | Keep going at the same speed, accelerate, and proceed. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | Keep going at the same speed, decelerate gradually without braking. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | Keep going at the same speed, decelerate gradually without braking. |
| InternVL2-2b-LoRA-300k-drivelm | Keep going at the same speed, decelerate gradually without braking. |
| llava-v1.6-mistral-7b-hf | In the scenario depicted in the image, the ego vehicle is approaching a construction zone with various signs and barriers. Here are some safe actions the driver should take:
1. **Slow Down**: The driver should reduce their speed as they approach the construction zone. This is indicated by the "CONSTRUCTION AHEAD" sign.
2. **Follow Signage**: The driver should pay attention to the signs and follow any instructions they provide. For example, the "CAMERA BACK" sign indicates that there is a camera monitoring the area, so the driver should be cautious and adhere to the speed limit.
3. **Stay Alert**: The driver should be extra vigilant in a construction zone, as there may be workers, equipment, and unexpected changes in the road layout.
4. **Maintain a Safe Following Distance**: The driver should keep a safe distance from the vehicle in front of them, as there may be sudden stops or changes in traffic flow.
5. **Be Prepared for Lane Changes**: The driver should be prepared to change lanes if necessary, as indicated by the "CAMERA BACK" sign.
6. **Use Turn Signals**: If the driver needs to make a turn, they should use their turn signals well in advance to alert other drivers.
7. **Stay in the Lane**: The driver should stay in the lane they are in unless they are directed to change lanes by a construction zone worker or a sign.
8. **Be Patient**: Construction zones can cause delays, so the driver should be patient and allow for extra travel time.
9. **Avoid Distractions**: The driver should avoid using their phone or engaging in any activity that could distract them from the road.
10. **Be Prepared for Unexpected Events**: Construction zones can be unpredictable, so the driver should be prepared for any sudden changes in the road or traffic conditions.
By following these safety measures, the driver can navigate the construction zone safely and minimize the risk of accidents. |
| 7 | Questionbehavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. C. The ego vehicle is going straight. The ego vehicle is driving very fast. D. The ego vehicle is going straight. The ego vehicle is not moving. |
| GT Answer | B |
| InternVL2-2B | Based on the image, the ego vehicle is driving straight. The image shows the ego vehicle in the middle of a road with clear lane markings and no signs of deviation from the intended path. The other options are not supported by the visual evidence in the image. |
| Mini-InternVL2-2B-DA-DriveLM | D |
| llama_adapter_v2_multimodal7b | The ego vehicle is going straight, as it is captured in the image driving down the street. |
| InternVL2-2b-LoRA-25k-drivelm | A |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | D |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | D |
| InternVL2-2b-LoRA-300k-drivelm | B. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. |
| llava-v1.6-mistral-7b-hf | A. The ego vehicle is going straight. The ego vehicle is driving fast. |
