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stringclasses 4
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|---|---|---|---|---|---|---|
c2d5a5e7f7dc4e12b967fff22a0e1bf1 | 7a8188fded5b4e53b449effb2739d3b6 | planning | In this scenario, what are safe actions to take for the ego vehicle? | Brake gently to a stop, slightly offset to the left. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg"
} |
c2d5a5e7f7dc4e12b967fff22a0e1bf1 | 7a8188fded5b4e53b449effb2739d3b6 | behavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. C. The ego vehicle is going straight. The ego vehicle is not moving. D. The ego vehicle is steering to the left. The ego vehicle is driving very fast. | C | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg"
} |
eac3102e4cc24d4b95532bcc711a902f | ee4ed5937b704e428d539892d66275f9 | perception | What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision. | There is a person wearing black clothes riding a red motorcycle to the front of the ego vehicle, a blue sedan to the front of the ego vehicle, and a red car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3719,0.5908>, <c2,CAM_FRONT,0.7552,0.5981>, and <c3,CAM_BACK,0.5344,0.6064>. | [
2
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg"
} |
eac3102e4cc24d4b95532bcc711a902f | ee4ed5937b704e428d539892d66275f9 | perception | What is the moving status of object <c2,CAM_FRONT,0.7552,0.5981>? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left. | B | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg"
} |
eac3102e4cc24d4b95532bcc711a902f | ee4ed5937b704e428d539892d66275f9 | prediction | 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? | Firstly, notice a person wearing black clothes riding a red motorcycle at front camera. The object is stationary, so the ego vehicle should slow down and proceed. Secondly, notice blue sedan at front camera. The object is turning right, so the ego vehicle should slow down and proceed. Thirdly, notice red car at back camera. The object is going ahead, so the ego vehicle should slow down and proceed. | [
3
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg"
} |
eac3102e4cc24d4b95532bcc711a902f | ee4ed5937b704e428d539892d66275f9 | prediction | Is <c1,CAM_FRONT,0.3719,0.5908> a traffic sign or a road barrier? | No. | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg"
} |
eac3102e4cc24d4b95532bcc711a902f | ee4ed5937b704e428d539892d66275f9 | planning | What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3719,0.5908>? Why take this action and what's the probability? | The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg"
} |
eac3102e4cc24d4b95532bcc711a902f | ee4ed5937b704e428d539892d66275f9 | planning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3719,0.5908>? | Accelerating and going straight. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg"
} |
eac3102e4cc24d4b95532bcc711a902f | ee4ed5937b704e428d539892d66275f9 | planning | In this scenario, what are safe actions to take for the ego vehicle? | Turn left and continue at the same speed. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg"
} |
eac3102e4cc24d4b95532bcc711a902f | ee4ed5937b704e428d539892d66275f9 | behavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is steering to the right. The ego vehicle is driving very fast. | B | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg"
} |
8c45a7a9142f4f848d463cc46843db71 | 6bcbfd126c8b44f0bb5a04a7efdc3986 | perception | What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision. | There is a silver sedan to the front of the ego vehicle, a silver sedan to the front right of the ego vehicle, and a blue sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.1906,0.6139>, <c2,CAM_FRONT_RIGHT,0.0255,0.6083>, and <c3,CAM_BACK,0.5286,0.7176>. | [
2
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg"
} |
8c45a7a9142f4f848d463cc46843db71 | 6bcbfd126c8b44f0bb5a04a7efdc3986 | perception | What is the moving status of object <c1,CAM_FRONT,0.1906,0.6139>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left. | A | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg"
} |
8c45a7a9142f4f848d463cc46843db71 | 6bcbfd126c8b44f0bb5a04a7efdc3986 | prediction | 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? | Firstly notice that silver sedan at front camera. The object is turning right, so the ego vehicle should remain stationary. Secondly, notice that silver sedan at right camera. The object is going ahead, so the ego vehicle should remain stationary. Thirdly, notice that blue sedan at back camera. The object is stationary, so the ego vehicle should remain stationary. | [
3
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg"
} |
8c45a7a9142f4f848d463cc46843db71 | 6bcbfd126c8b44f0bb5a04a7efdc3986 | prediction | Is <c1,CAM_FRONT,0.1906,0.6139> a traffic sign or a road barrier? | No. | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg"
} |
8c45a7a9142f4f848d463cc46843db71 | 6bcbfd126c8b44f0bb5a04a7efdc3986 | planning | What actions could the ego vehicle take based on <c1,CAM_FRONT,0.1906,0.6139>? Why take this action and what's the probability? | The action is to remain stationary. The reason for this action is to follow the traffic rules, which has a high probability. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg"
} |
8c45a7a9142f4f848d463cc46843db71 | 6bcbfd126c8b44f0bb5a04a7efdc3986 | planning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.1906,0.6139>? | Slight left turn. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg"
} |
8c45a7a9142f4f848d463cc46843db71 | 6bcbfd126c8b44f0bb5a04a7efdc3986 | planning | In this scenario, what are safe actions to take for the ego vehicle? | Brake gently to a stop, slightly offset to the right. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg"
} |
8c45a7a9142f4f848d463cc46843db71 | 6bcbfd126c8b44f0bb5a04a7efdc3986 | behavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is going straight. The ego vehicle is not moving. C. The ego vehicle is going straight. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. | B | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg"
} |
e209e66ff7834490b212c16cb12a1ce9 | 187ecc6a2ce34e52ba02da567d21e23c | perception | What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision. | There is a person riding a motorcycle to the front of the ego vehicle, a gray minivan to the back of the ego vehicle, a black SUV to the front left of the ego vehicle, and a white motorhome to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.0938,0.6481>, <c2,CAM_BACK,0.4567,0.6186>, <c3,CAM_FRONT_LEFT,0.5833,0.7564>, and <c4,CAM_FRONT,0.3094,0.5556>. | [
2
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg"
} |
e209e66ff7834490b212c16cb12a1ce9 | 187ecc6a2ce34e52ba02da567d21e23c | perception | What is the moving status of object <c2,CAM_BACK,0.4567,0.6186>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left. | A | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg"
} |
e209e66ff7834490b212c16cb12a1ce9 | 187ecc6a2ce34e52ba02da567d21e23c | prediction | Is <c1,CAM_FRONT,0.0938,0.6481> a traffic sign or a road barrier? | No. | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg"
} |
e209e66ff7834490b212c16cb12a1ce9 | 187ecc6a2ce34e52ba02da567d21e23c | planning | What actions could the ego vehicle take based on <c1,CAM_FRONT,0.0938,0.6481>? Why take this action and what's the probability? | The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg"
} |
e209e66ff7834490b212c16cb12a1ce9 | 187ecc6a2ce34e52ba02da567d21e23c | planning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.0938,0.6481>? | Moderate left turn. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg"
} |
e209e66ff7834490b212c16cb12a1ce9 | 187ecc6a2ce34e52ba02da567d21e23c | planning | In this scenario, what are safe actions to take for the ego vehicle? | Keep going at the same speed, decelerate gradually without braking. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg"
} |
e209e66ff7834490b212c16cb12a1ce9 | 187ecc6a2ce34e52ba02da567d21e23c | behavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving slowly. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. D. The ego vehicle is going straight. The ego vehicle is driving with normal speed. | D | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg"
} |
c0d3796765e2452d990309b2568adac5 | 464a82c88b4a420a9639cca247918a7c | perception | What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision. | There is a white truck to the front of the ego vehicle, a person wearing yellow clothes to the back of the ego vehicle, a gray SUV to the back of the ego vehicle, and a person wearing yellow clothes to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2432,0.4972>, <c2,CAM_BACK,0.8771,0.6000>, <c3,CAM_BACK,0.5734,0.6278>, and <c4,CAM_FRONT_RIGHT,0.3901,0.6241>. | [
2
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg"
} |
c0d3796765e2452d990309b2568adac5 | 464a82c88b4a420a9639cca247918a7c | perception | What is the moving status of object <c1,CAM_FRONT,0.2432,0.4972>? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left. | B | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg"
} |
c0d3796765e2452d990309b2568adac5 | 464a82c88b4a420a9639cca247918a7c | prediction | Is <c1,CAM_FRONT,0.2432,0.4972> a traffic sign or a road barrier? | No. | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg"
} |
c0d3796765e2452d990309b2568adac5 | 464a82c88b4a420a9639cca247918a7c | planning | What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2432,0.4972>? Why take this action and what's the probability? | The action is to keep going at the same speed because there is no safety issue. The probability of this action is high. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg"
} |
c0d3796765e2452d990309b2568adac5 | 464a82c88b4a420a9639cca247918a7c | planning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2432,0.4972>? | Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,0.2432,0.4972>. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg"
} |
c0d3796765e2452d990309b2568adac5 | 464a82c88b4a420a9639cca247918a7c | planning | In this scenario, what are safe actions to take for the ego vehicle? | Keep going at the same speed and turn right. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg"
} |
c0d3796765e2452d990309b2568adac5 | 464a82c88b4a420a9639cca247918a7c | behavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving very fast. | B | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg"
} |
e12dee10fe2545e4ab88459ed4268bc6 | f0efd0739e564fa69c2802faaba20a78 | perception | What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision. | There is a white truck to the front of the ego vehicle, a pedestrian in black short sleeves to the front of the ego vehicle, a pedestrian wearing a white shirt to the front left of the ego vehicle, and a sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5125,0.5111>, <c2,CAM_FRONT,0.6771,0.6297>, <c3,CAM_FRONT_LEFT,0.8594,0.6213>, and <c4,CAM_BACK,0.7224,0.5380>. | [
2
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg"
} |
e12dee10fe2545e4ab88459ed4268bc6 | f0efd0739e564fa69c2802faaba20a78 | perception | What is the moving status of object <c1,CAM_FRONT,0.5125,0.5111>? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead. | B | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg"
} |
e12dee10fe2545e4ab88459ed4268bc6 | f0efd0739e564fa69c2802faaba20a78 | prediction | Is <c1,CAM_FRONT,0.5125,0.5111> a traffic sign or a road barrier? | No. | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg"
} |
e12dee10fe2545e4ab88459ed4268bc6 | f0efd0739e564fa69c2802faaba20a78 | planning | What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5125,0.5111>? Why take this action and what's the probability? | The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision. The probability of this action is high. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg"
} |
e12dee10fe2545e4ab88459ed4268bc6 | f0efd0739e564fa69c2802faaba20a78 | planning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5125,0.5111>? | Accelerating and going straight. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg"
} |
e12dee10fe2545e4ab88459ed4268bc6 | f0efd0739e564fa69c2802faaba20a78 | planning | In this scenario, what are safe actions to take for the ego vehicle? | Keep going at the same speed, decelerate gradually without braking. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg"
} |
e12dee10fe2545e4ab88459ed4268bc6 | f0efd0739e564fa69c2802faaba20a78 | behavior | 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 not moving. B. The ego vehicle is going straight. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving slowly. | A | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg"
} |
748894952b00431186308b387c2f424c | 672c08701df6465bb5259c60717309fb | perception | What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision. | There is a black car to the front right of the ego vehicle, a gray sedan to the front of the ego vehicle, an orange car to the back of the ego vehicle, a person riding a bike to the front left of the ego vehicle, and a person riding a bike to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.5466,0.7209>, <c2,CAM_FRONT,0.4207,0.6254>, <c3,CAM_BACK,0.4863,0.6850>, <c4,CAM_FRONT_LEFT,0.1151,0.5426>, and <c5,CAM_FRONT_LEFT,0.7604,0.5469>. | [
2
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg"
} |
748894952b00431186308b387c2f424c | 672c08701df6465bb5259c60717309fb | perception | What is the moving status of object <c1,CAM_FRONT_RIGHT,0.5466,0.7209>? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead. | A | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg"
} |
748894952b00431186308b387c2f424c | 672c08701df6465bb5259c60717309fb | prediction | Is <c1,CAM_FRONT_RIGHT,0.5466,0.7209> a traffic sign or a road barrier? | No. | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg"
} |
748894952b00431186308b387c2f424c | 672c08701df6465bb5259c60717309fb | planning | What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.5466,0.7209>? Why take this action and what's the probability? | The action is to keep going at the same speed. The reason is to avoid a collision, which is high probability. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg"
} |
748894952b00431186308b387c2f424c | 672c08701df6465bb5259c60717309fb | planning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.5466,0.7209>? | Slight right turn. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg"
} |
748894952b00431186308b387c2f424c | 672c08701df6465bb5259c60717309fb | planning | In this scenario, what are safe actions to take for the ego vehicle? | Decelerate gradually without braking and turn right. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg"
} |
748894952b00431186308b387c2f424c | 672c08701df6465bb5259c60717309fb | behavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. C. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. D. The ego vehicle is going straight. The ego vehicle is not moving. | D | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg"
} |
5a2aac9df32945d183fc81924ff148b6 | e21a3e9416d54b8ab488395510f4512d | perception | What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision. | There is a silver truck to the front of the ego vehicle, a silver sedan to the back of the ego vehicle, and a pedestrian wearing a helmet to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2594,0.5574>, <c2,CAM_BACK,0.4636,0.6241>, and <c3,CAM_FRONT_LEFT,0.3614,0.6314>. | [
2
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg"
} |
5a2aac9df32945d183fc81924ff148b6 | e21a3e9416d54b8ab488395510f4512d | perception | What is the moving status of object <c2,CAM_BACK,0.4636,0.6241>? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left. | B | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg"
} |
5a2aac9df32945d183fc81924ff148b6 | e21a3e9416d54b8ab488395510f4512d | prediction | 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? | Firstly, notice that pedestrian wearing a helmet at left camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that silver truck at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that silver sedan at back camera. The object is turning right, so the ego vehicle should continue ahead at the same speed. | [
3
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg"
} |
5a2aac9df32945d183fc81924ff148b6 | e21a3e9416d54b8ab488395510f4512d | prediction | Is <c1,CAM_FRONT,0.2594,0.5574> a traffic sign or a road barrier? | No. | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg"
} |
5a2aac9df32945d183fc81924ff148b6 | e21a3e9416d54b8ab488395510f4512d | planning | What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2594,0.5574>? Why take this action and what's the probability? | The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg"
} |
5a2aac9df32945d183fc81924ff148b6 | e21a3e9416d54b8ab488395510f4512d | planning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2594,0.5574>? | Slight left turn. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg"
} |
5a2aac9df32945d183fc81924ff148b6 | e21a3e9416d54b8ab488395510f4512d | planning | In this scenario, what are safe actions to take for the ego vehicle? | Keep going at the same speed, accelerate, and proceed. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg"
} |
5a2aac9df32945d183fc81924ff148b6 | e21a3e9416d54b8ab488395510f4512d | behavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is going straight. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. | B | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg"
} |
ef5f945852e84fcc88cab506746a6636 | cddb14d9c36243f3b05dcb330a3bbd3a | perception | What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision. | There is a black car to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a grey SUV to the front right of the ego vehicle, a white commercial vehicle to the front right of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.8917,0.6259>, <c2,CAM_FRONT,0.5047,0.5519>, <c3,CAM_BACK,0.5086,0.6950>, <c4,CAM_FRONT_RIGHT,0.4505,0.6547>, <c5,CAM_FRONT_RIGHT,0.6284,0.6532>, and <c6,CAM_FRONT,0.5366,0.3534>. | [
2
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg"
} |
ef5f945852e84fcc88cab506746a6636 | cddb14d9c36243f3b05dcb330a3bbd3a | perception | What is the moving status of object <c1,CAM_FRONT,0.8917,0.6259>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left. | A | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg"
} |
ef5f945852e84fcc88cab506746a6636 | cddb14d9c36243f3b05dcb330a3bbd3a | prediction | Is <c1,CAM_FRONT,0.8917,0.6259> a traffic sign or a road barrier? | No. | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg"
} |
ef5f945852e84fcc88cab506746a6636 | cddb14d9c36243f3b05dcb330a3bbd3a | planning | What actions could the ego vehicle take based on <c1,CAM_FRONT,0.8917,0.6259>? Why take this action and what's the probability? | The action is to remain stationary. The reason is to follow the traffic rules, and the probability is high. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg"
} |
ef5f945852e84fcc88cab506746a6636 | cddb14d9c36243f3b05dcb330a3bbd3a | planning | What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,0.5047,0.5519>? | Accelerate and go straight. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg"
} |
ef5f945852e84fcc88cab506746a6636 | cddb14d9c36243f3b05dcb330a3bbd3a | planning | In this scenario, what are safe actions to take for the ego vehicle? | Brake suddenly, brake gently to a stop. | [
1
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg"
} |
ef5f945852e84fcc88cab506746a6636 | cddb14d9c36243f3b05dcb330a3bbd3a | behavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving slowly. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is going straight. The ego vehicle is not moving. | D | [
0
] | {
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg"
} |
Subsets and Splits