{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/nuscenes-qa-a-multi-modal-visual-question","title":"NuScenes-QA: A Multi-modal Visual Question Answering Benchmark for Autonomous Driving Scenario","arxiv_id":"2305.14836","date":"2023-05-24","proceeding":null,"authors":["Tianwen Qian","Jingjing Chen","Linhai Zhuo","Yang Jiao","Yu-Gang Jiang"],"abstract":"We introduce a novel visual question answering (VQA) task in the context of autonomous driving, aiming to answer natural language questions based on street-view clues. Compared to traditional VQA tasks, VQA in autonomous driving scenario presents more challenges. Firstly, the raw visual data are multi-modal, including images and point clouds captured by camera and LiDAR, respectively. Secondly, the data are multi-frame due to the continuous, real-time acquisition. Thirdly, the outdoor scenes exhibit both moving foreground and static background. Existing VQA benchmarks fail to adequately address these complexities. To bridge this gap, we propose NuScenes-QA, the first benchmark for VQA in the autonomous driving scenario, encompassing 34K visual scenes and 460K question-answer pairs. Specifically, we leverage existing 3D detection annotations to generate scene graphs and design question templates manually. Subsequently, the question-answer pairs are generated programmatically based on these templates. Comprehensive statistics prove that our NuScenes-QA is a balanced large-scale benchmark with diverse question formats. Built upon it, we develop a series of baselines that employ advanced 3D detection and VQA techniques. Our extensive experiments highlight the challenges posed by this new task. Codes and dataset are available at https://github.com/qiantianwen/NuScenes-QA.","url_abs":"https://arxiv.org/abs/2305.14836v2","url_pdf":"https://arxiv.org/pdf/2305.14836v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"nuscenes-qa-a-multi-modal-visual-question","repo_url":"https://github.com/qiantianwen/nuscenes-qa","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"question-answering","task_name":"Question Answering"},{"task_slug":"visual-question-answering-1","task_name":"Visual Question Answering"},{"task_slug":"visual-question-answering","task_name":"Visual Question Answering (VQA)"}],"methods":[{"method_slug":"fail","method_name":"fail"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2305.14836","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2305.14836"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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