Drive My Way: Preference Alignment of Vision-Language-Action Model for Personalized Driving
Paper • 2603.25740 • Published
Datasets:
Modalities:
Image
Size:
10K<n<100K
ArXiv:
Tags:
autonomous-driving
personalized-driving
CARLA
human-driving-data
vision-language
driving-behavior
License:
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class string | extent list | position list | yaw float64 | num_points int64 | distance float64 | speed float64 | brake float64 | id int64 | matrix list | type_id string | mesh_path null | name string | text string | value float64 | cloudiness float64 | dust_storm float64 | fog_density float64 | fog_distance float64 | fog_falloff float64 | mie_scattering_scale float64 | precipitation float64 | precipitation_deposits float64 | rayleigh_scattering_scale float64 | scattering_intensity float64 | sun_altitude_angle float64 | sun_azimuth_angle float64 | wetness float64 | wind_intensity float64 | traffic_light_state string | distance_to_junction float64 | ego_lane_number int64 | road_id int64 | lane_id int64 | is_in_junction bool | is_intersection bool | junction_id int64 | next_road_junction bool | next_junction_id int64 | next_road_ids list | next_next_road_ids_ego list | ego_lane dict | left_lanes list | right_lanes list | num_lanes_same_direction int64 | num_lanes_opposite_direction int64 | lane_change int64 | lane_change_str string | lane_type int64 | lane_type_str string | left_lane_marking_color int64 | left_lane_marking_color_str string | left_lane_marking_type int64 | left_lane_marking_type_str string | right_lane_marking_color int64 | right_lane_marking_color_str string | right_lane_marking_type int64 | right_lane_marking_type_str string | shoulder_left bool | shoulder_right bool | parking_left bool | parking_right bool | sidewalk_left bool | sidewalk_right bool | bike_lane_left bool | bike_lane_right bool |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ego_car | [
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0,
0,
0
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[
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[
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[
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static | [
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0.923828125
] | [
20.3543756253,
2.8490735292,
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landmark | null | [
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4.0062958926,
0.1755455108
] | -0.029521 | null | 9.06364 | null | null | 23,924 | null | null | null | Speed_50 | 50 | 50 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
weather | null | null | null | null | null | null | null | null | null | null | null | null | null | null | 100 | 0 | 0 | 0 | 0 | 0 | 6 | 16 | 0.0331 | 0 | 20 | 0 | 40 | 25 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
ego_info | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 207.006577 | 1 | 106 | 2 | false | false | -1 | true | 4,486 | [
4495
] | [
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{
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{
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},
{
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{
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},
{
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},
{
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}
] | [
{
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},
{
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"width": 0.635
},
{
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"width": 3
}
] | 2 | 2 | 2 | Left | 2 | Driving | 0 | White | 1 | Broken | 0 | White | 2 | Solid | false | false | false | false | true | true | false | false |
ego_car | [
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[
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[
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[
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[
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] | vehicle.ford.mustang | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 192.00618 | null | 106 | 2 | false | null | -1 | null | 4,486 | [
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] | null | null | null | null | null | null | null | null | 2 | Driving | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
car | [
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[
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] | vehicle.mini.cooper_s_2021 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 177.005539 | null | 106 | 2 | false | null | -1 | null | 4,486 | [
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car | [
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[
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[
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] | vehicle.mercedes.coupe_2020 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 192.170456 | null | 106 | 1 | false | null | -1 | null | 4,486 | [
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car | [
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] | vehicle.dodge.charger_2020 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 177.169815 | null | 106 | 1 | false | null | -1 | null | 4,486 | [
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static_car | [
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static_car | [
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static_car | [
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[
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[
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] | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | 617 | 2 | null | null | -1 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
static_car | [
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] | [
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[
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] | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | 617 | 2 | null | null | -1 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
static | [
0.5685937405,
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] | [
20.3542485682,
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] | 1.570799 | -1 | 20.553804 | null | null | null | null | static.prop.warningaccident | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
landmark | null | [
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4.0063300218,
0.1633882621
] | -0.029521 | null | 9.063316 | null | null | 23,924 | null | null | null | Speed_50 | 50 | 50 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
weather | null | null | null | null | null | null | null | null | null | null | null | null | null | null | 100 | 0 | 0 | 0 | 0 | 0 | 6 | 16 | 0.0331 | 0 | 20 | 0 | 40 | 25 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
ego_info | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 207.006897 | 1 | 106 | 2 | false | false | -1 | true | 4,486 | [
4495
] | [
986
] | {
"type:": "Driving",
"width": 3.25
} | [
{
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{
"type:": "Driving",
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},
{
"type:": "Driving",
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},
{
"type:": "Shoulder",
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},
{
"type:": "Shoulder",
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},
{
"type:": "Sidewalk",
"width": 3
}
] | [
{
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"width": 0.5
},
{
"type:": "Shoulder",
"width": 0.635
},
{
"type:": "Sidewalk",
"width": 3
}
] | 2 | 2 | 2 | Left | 2 | Driving | 0 | White | 1 | Broken | 0 | White | 2 | Solid | false | false | false | false | true | true | false | false |
ego_car | [
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] | [
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] | 0 | -1 | -1 | 9.345508 | 0 | 7,549 | [
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[
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[
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[
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] | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
car | [
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] | [
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] | -3.126916 | -1 | 56.258181 | 5.725302 | 0 | 7,563 | [
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[
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[
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[
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] | vehicle.dodge.charger_2020 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 67.002884 | null | 106 | -2 | false | null | -1 | null | 11,881 | [
11891
] | null | null | null | null | null | null | null | null | 2 | Driving | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
car | [
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] | [
54.8801671477,
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-0.6839818385
] | -3.12691 | -1 | 55.22675 | 8.114205 | 0 | 7,562 | [
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[
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[
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],
[
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]
] | vehicle.ford.mustang | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 67.003052 | null | 106 | -1 | false | null | -1 | null | 11,881 | [
11891
] | null | null | null | null | null | null | null | null | 2 | Driving | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
car | [
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] | [
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] | 0.015012 | -1 | 14.76834 | 6.802324 | 0 | 7,561 | [
[
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[
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[
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],
[
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1
]
] | vehicle.ford.mustang | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 185.005905 | null | 106 | 2 | false | null | -1 | null | 4,486 | [
4495
] | null | null | null | null | null | null | null | null | 2 | Driving | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
car | [
2.2763495445,
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] | [
30.9429295321,
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-0.3774333376
] | 0.012739 | -1 | 30.946929 | 8.416777 | 0 | 7,560 | [
[
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[
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[
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],
[
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1
]
] | vehicle.mini.cooper_s_2021 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 169.004883 | null | 106 | 2 | false | null | -1 | null | 4,486 | [
4495
] | null | null | null | null | null | null | null | null | 2 | Driving | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
car | [
2.3368194103,
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0.7209736705
] | [
17.286028426,
-3.0174456868,
-0.2137395287
] | 0.008862 | -1 | 17.548716 | 8.380405 | 0 | 7,559 | [
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[
-0.0090519134,
0.0000154457,
0.9999590516,
361.4133605957
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[
0,
0,
0,
1
]
] | vehicle.ford.mustang | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 177.005707 | null | 106 | 2 | false | null | -1 | null | 4,486 | [
4495
] | null | null | null | null | null | null | null | null | 2 | Driving | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
car | [
2.2763495445,
1.0485360622,
0.8835831881
] | [
28.90363851,
0.3409792341,
0.0266066695
] | 0.004348 | -1 | 28.905662 | 11.914681 | 0 | 7,560 | [
[
-0.9869462252,
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],
[
-0.1606949866,
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],
[
-0.0106865512,
0.0000559231,
0.9999428988,
361.2584228516
],
[
0,
0,
0,
1
]
] | vehicle.mini.cooper_s_2021 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 159.004669 | null | 106 | 2 | false | null | -1 | null | 4,486 | [
4495
] | null | null | null | null | null | null | null | null | 2 | Driving | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
car | [
2.3368194103,
0.90590626,
0.7209736705
] | [
15.2163995796,
-2.9568195321,
0.0157712604
] | 0.004773 | -1 | 15.501027 | 12.348432 | 0 | 7,559 | [
[
-0.9869161844,
0.1611244977,
-0.0059445957,
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],
[
-0.1611212641,
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-0.0010220143,
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],
[
-0.0060315956,
-0.0000508416,
0.9999818206,
361.3800048828
],
[
0,
0,
0,
1
]
] | vehicle.mercedes.coupe_2020 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 173.271042 | null | 106 | 1 | false | null | -1 | null | 4,486 | [
4523
] | null | null | null | null | null | null | null | null | 2 | Driving | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
car | [
2.5039126873,
0.9408109784,
0.7673624754
] | [
32.3189156154,
-2.8946241426,
0.0299919234
] | 0.004016 | -1 | 32.448298 | 13.554323 | 0 | 7,558 | [
[
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],
[
-0.160373345,
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],
[
-0.0058833016,
-0.0000751042,
0.9999827147,
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],
[
0,
0,
0,
1
]
] | vehicle.dodge.charger_2020 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | None | 156.285736 | null | 106 | 1 | false | null | -1 | null | 4,486 | [
4523
] | null | null | null | null | null | null | null | null | 2 | Driving | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
static_car | [
2.0874218941,
1.2750439644,
0.6802343726
] | [
-37.2529712617,
-26.0122284678,
0.1691035285
] | 1.568495 | -1 | 45.436202 | 0 | null | null | [
[
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[
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[
-0.007983122,
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],
[
0,
0,
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1
]
] | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | 617 | 2 | null | null | -1 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
static_car | [
1.9735937119,
1.2991796732,
0.6801562309
] | [
-28.7697683871,
-42.9053959303,
0.4186261083
] | -1.57308 | -1 | 51.659925 | 0 | null | null | [
[
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],
[
0.9880069494,
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],
[
0.0089677554,
-0.0088077364,
0.9999209642,
362.169708252
],
[
0,
0,
0,
1
]
] | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | 617 | -2 | null | null | -1 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
static_car | [
2.0879685879,
1.2746435404,
0.6793359518
] | [
-37.2949206733,
-42.8867210465,
0.3334142313
] | 1.568507 | -1 | 56.835668 | 0 | null | null | [
[
0.154144302,
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],
[
-0.9880101681,
0.1540682316,
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],
[
-0.0086864335,
0.0088385828,
0.9999232292,
362.169708252
],
[
0,
0,
0,
1
]
] | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | 617 | 2 | null | null | -1 | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null | null |
End of preview.
PDD: Personalized Driving Dataset
Dataset Description
PDD (Personalized Driving Dataset) is a multi-driver, multi-scenario driving dataset collected in CARLA 0.9.15. It captures real human driving behavior from 30 individual drivers, each performing 21 challenging driving scenarios. The dataset is designed for research on personalized autonomous driving, where models learn to mimic individual driving styles.
Each driver has a detailed profile capturing demographics, driving experience, habits, and self-reported driving style. The driving data includes front-camera RGB images, 3D bounding boxes for surrounding objects, and per-frame vehicle telemetry (speed, acceleration, steering, throttle, brake, etc.).
Dataset Statistics
| Metric | Value |
|---|---|
| Drivers | 30 |
| Scenarios per driver | 21 |
| Total scenario instances | 630 |
| Total image frames | 70,087 |
| Total bounding box files | 70,087 |
| Dataset size | ~13 GB |
| Simulator | CARLA 0.9.15 |
| Frame rate (saved) | 4 FPS |
Dataset Structure
PDD/
├── driver_01/
│ └── data/
│ ├── Accident/
│ │ ├── images/ # Front-camera RGB images (JPEG)
│ │ │ ├── 0.jpg
│ │ │ ├── 1.jpg
│ │ │ └── ...
│ │ ├── boxes/ # 3D bounding boxes (compressed JSON)
│ │ │ ├── 0.json.gz
│ │ │ ├── 1.json.gz
│ │ │ └── ...
│ │ └── metric/
│ │ ├── metrics.json # Per-step control inputs
│ │ └── metric_info.json # Per-frame telemetry
│ ├── BlockedIntersection/
│ │ └── ...
│ └── ... (21 scenarios)
├── driver_02/
│ └── ...
├── ... (30 drivers)
└── user_profiles/
├── driver_01.json
├── driver_02.json
└── ... (30 profiles)
Data Fields
Images (images/*.jpg)
Front-forward RGB camera images captured at 4 FPS during driving.
Bounding Boxes (boxes/*.json.gz)
Gzip-compressed JSON files, one per frame. Each contains a list of detected objects:
class: Object type (ego_car,car,walker,static)position: [x, y, z] relative to ego vehicleextent: [length, width, height] of bounding boxyaw: Heading anglespeed: Object speedid: Unique object identifierdistance: Distance from ego vehicle
Telemetry (metric/metric_info.json)
Per-frame driving telemetry indexed by frame number:
location: [x, y, z] world coordinatesrotation: [pitch, roll, yaw]speed: Current speed (m/s)speed_limit: Road speed limit (m/s)acceleration: [x, y, z] acceleration vectorvelocity: [x, y, z] velocity vectorangular_velocity: [x, y, z]distance_to_front_vehicle: Distance to lead vehicle (m)lane_change_count: Number of lane changeslane_info: Current lane informationtarget_point,target_point_next: Navigation waypointsexpert_target_speed: Expert reference speedexpert_control_steer/throttle/brake: Expert reference controlsother_vehicles: Nearby vehicle informationwalkers: Nearby pedestrian information
Control Inputs (metric/metrics.json)
Sequential list of control commands applied at each simulation step:
steer: Steering angle [-1, 1]throttle: Throttle input [0, 1]brake: Brake input [0, 1]gear,hand_brake,reverse: Additional vehicle state
Driver Profiles (user_profiles/driver_XX.json)
basic_information: Age, gender, occupationdriving_experience: Years of experiencedriving_frequency_per_week: Typical weekly driving hoursdriving_purposes: Common driving use casesdriving_habits_preferences: Self-reported driving habitshealth_and_driving_records: Health conditions, accident historydriving_style: Self-classified style (Aggressive / Assertive / Balanced / Calm / Cautious)international_driving_experience: Driving experience in other regions
Usage
from huggingface_hub import snapshot_download
# Download the full dataset
snapshot_download(repo_id="tasl-lab/PDD", repo_type="dataset", local_dir="./PDD")
# Download a specific driver only
snapshot_download(repo_id="tasl-lab/PDD", repo_type="dataset", local_dir="./PDD",
allow_patterns=["driver_01/**", "user_profiles/**"])
Or use the provided loading script (load_pdd.py) for a structured PyTorch-compatible loader:
# Copy load_pdd.py to your project, then:
from datasets import load_dataset
dataset = load_dataset("./load_pdd.py", name="driver_01", trust_remote_code=True)
sample = dataset["train"][0]
print(sample["driver_id"]) # "driver_01"
print(sample["scenario"]) # "Accident"
print(sample["speed"]) # 0.001
print(sample["image"]) # PIL Image
print(sample["driver_profile"]) # {...}
Citation
If you use this dataset in your research, please cite:
@misc{wang2026drivewaypreferencealignment,
title={Drive My Way: Preference Alignment of Vision-Language-Action Model for Personalized Driving},
author={Zehao Wang and Huaide Jiang and Shuaiwu Dong and Yuping Wang and Hang Qiu and Jiachen Li},
year={2026},
eprint={2603.25740},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2603.25740},
}
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