Embodied Scene Understanding for Vision Language Models via MetaVQA

Weizhen Wang, Chenda Duan, Zhenghao Peng, Yuxin Liu, Bolei Zhou; Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR), 2025, pp. 22453-22464

Vision Language Models (VLMs) demonstrate significant potential as embodied AI agents for various mobility applications. However, a standardized, closed-loop benchmark for evaluating their spatial reasoning and sequential decision-making capabilities is lacking. To address this, we present MetaVQA: a comprehensive benchmark designed to assess and enhance VLMs' understanding of spatial relationships and scene dynamics through Visual Question Answering (VQA) and closed-loop simulations. MetaVQA leverages Set-of-Mark prompting and top-down view ground-truth annotations from nuScenes and Waymo datasets to automatically generate extensive question-answer pairs based on diverse real-world traffic scenarios, ensuring object-centric and context-rich instructions. Our experiments show that fine-tuning VLMs with the MetaVQA Dataset significantly improves their embodied scene understanding, which is evident not only in improved VQA accuracy but also in emerging safety-aware driving maneuvers. In addition, the learning exhibits strong transferability from simulation to real-world observation. The project webpage is at https://metadriverse.github.io/metavqa.