LinYC2024/benchDrive
01
1[2 {3 "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",4 "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",5 "question_type": "perception",6 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",7 "answer": "There is a gray sedan to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5073,0.5778>, <c2,CAM_FRONT,0.4886,0.5481>, and <c3,CAM_FRONT,0.6058,0.5769>.",8 "tag": [9 210 ],11 "image_path": {12 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",13 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",14 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",15 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",16 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",17 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"18 }19 },20 {21 "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",22 "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",23 "question_type": "perception",24 "question": "What is the moving status of object <c1,CAM_BACK,0.5073,0.5778>? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",25 "answer": "A",26 "tag": [27 028 ],29 "image_path": {30 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg"31 }32 },33 {34 "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",35 "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",36 "question_type": "prediction",37 "question": "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?",38 "answer": "Firstly, notice that black suv at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that gray sedan at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that gray sedan at back camera. The object is moving ahead, so the ego vehicle should continue ahead at the same speed.",39 "tag": [40 341 ],42 "image_path": {43 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",44 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",45 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",46 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",47 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",48 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"49 }50 },51 {52 "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",53 "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",54 "question_type": "prediction",55 "question": "Is <c1,CAM_BACK,0.5073,0.5778> a traffic sign or a road barrier?",56 "answer": "No.",57 "tag": [58 059 ],60 "image_path": {61 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg"62 }63 },64 {65 "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",66 "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",67 "question_type": "planning",68 "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5073,0.5778>? Why take this action and what's the probability?",69 "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high.",70 "tag": [71 172 ],73 "image_path": {74 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg"75 }76 },77 {78 "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",79 "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",80 "question_type": "planning",81 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5073,0.5778>?",82 "answer": "Back up.",83 "tag": [84 185 ],86 "image_path": {87 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg"88 }89 },90 {91 "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",92 "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",93 "question_type": "planning",94 "question": "In this scenario, what are safe actions to take for the ego vehicle?",95 "answer": "Keep going at the same speed, accelerate, and continue ahead.",96 "tag": [97 198 ],99 "image_path": {100 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",101 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",102 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",103 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",104 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",105 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"106 }107 },108 {109 "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",110 "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",111 "question_type": "behavior",112 "question": "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 steering to the right. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed.",113 "answer": "C",114 "tag": [115 0116 ],117 "image_path": {118 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",119 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",120 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",121 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",122 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",123 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"124 }125 },126 {127 "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",128 "frame_token": "2d493b2677f84ca190bb6c205899251a",129 "question_type": "perception",130 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",131 "answer": "There is a black pickup truck to the back of the ego vehicle, a white truck to the front right of the ego vehicle, a yellow truck to the front of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5364,0.4806>, <c2,CAM_FRONT_RIGHT,0.8911,0.4620>, <c3,CAM_FRONT,0.2911,0.4630>, and <c4,CAM_BACK,0.7927,0.5056>.",132 "tag": [133 2134 ],135 "image_path": {136 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",137 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",138 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",139 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",140 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",141 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"142 }143 },144 {145 "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",146 "frame_token": "2d493b2677f84ca190bb6c205899251a",147 "question_type": "perception",148 "question": "What is the moving status of object <c2,CAM_FRONT_RIGHT,0.8911,0.4620>? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",149 "answer": "C",150 "tag": [151 0152 ],153 "image_path": {154 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg"155 }156 },157 {158 "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",159 "frame_token": "2d493b2677f84ca190bb6c205899251a",160 "question_type": "prediction",161 "question": "Is <c1,CAM_BACK,0.5364,0.4806> a traffic sign or a road barrier?",162 "answer": "No.",163 "tag": [164 0165 ],166 "image_path": {167 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg"168 }169 },170 {171 "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",172 "frame_token": "2d493b2677f84ca190bb6c205899251a",173 "question_type": "planning",174 "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5364,0.4806>? Why take this action and what's the probability?",175 "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high.",176 "tag": [177 1178 ],179 "image_path": {180 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg"181 }182 },183 {184 "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",185 "frame_token": "2d493b2677f84ca190bb6c205899251a",186 "question_type": "planning",187 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5364,0.4806>?",188 "answer": "Back up.",189 "tag": [190 1191 ],192 "image_path": {193 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg"194 }195 },196 {197 "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",198 "frame_token": "2d493b2677f84ca190bb6c205899251a",199 "question_type": "planning",200 "question": "In this scenario, what are safe actions to take for the ego vehicle?",201 "answer": "Keep going at the same speed, accelerate and go ahead, brake gently to a stop, decelerate gradually without braking, slightly offset to the left, change to the left lane, turn left.",202 "tag": [203 1204 ],205 "image_path": {206 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",207 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",208 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",209 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",210 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",211 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"212 }213 },214 {215 "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",216 "frame_token": "2d493b2677f84ca190bb6c205899251a",217 "question_type": "behavior",218 "question": "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 with normal speed. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is steering to the left. The ego vehicle is driving slowly. D. The ego vehicle is going straight. The ego vehicle is driving slowly.",219 "answer": "A",220 "tag": [221 0222 ],223 "image_path": {224 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",225 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",226 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",227 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",228 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",229 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"230 }231 },232 {233 "scene_token": "08be42eb2186411d8e2201225329f1c6",234 "frame_token": "818a1bd7b7394194a85163c8d95958a9",235 "question_type": "perception",236 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",237 "answer": "There is a black small sedan to the back of the ego vehicle, a black SUV to the back left of the ego vehicle, and a black small car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.7380,0.5926>, <c2,CAM_BACK_LEFT,0.1906,0.6426>, and <c3,CAM_FRONT_LEFT,0.7547,0.5703>.",238 "tag": [239 2240 ],241 "image_path": {242 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",243 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",244 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",245 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",246 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",247 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"248 }249 },250 {251 "scene_token": "08be42eb2186411d8e2201225329f1c6",252 "frame_token": "818a1bd7b7394194a85163c8d95958a9",253 "question_type": "perception",254 "question": "What is the moving status of object <c1,CAM_BACK,0.7380,0.5926>? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",255 "answer": "C",256 "tag": [257 0258 ],259 "image_path": {260 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg"261 }262 },263 {264 "scene_token": "08be42eb2186411d8e2201225329f1c6",265 "frame_token": "818a1bd7b7394194a85163c8d95958a9",266 "question_type": "prediction",267 "question": "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?",268 "answer": "Firstly, notice that black small car at left camera. The object is stationary, so the ego vehicle should turn left. Secondly, notice that black small sedan at back camera. The object is going ahead, so the ego vehicle should turn left. Thirdly, notice that black suv at left rear camera. The object is stationary, so the ego vehicle should turn left.",269 "tag": [270 3271 ],272 "image_path": {273 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",274 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",275 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",276 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",277 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",278 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"279 }280 },281 {282 "scene_token": "08be42eb2186411d8e2201225329f1c6",283 "frame_token": "818a1bd7b7394194a85163c8d95958a9",284 "question_type": "prediction",285 "question": "Is <c1,CAM_BACK,0.7380,0.5926> a traffic sign or a road barrier?",286 "answer": "No.",287 "tag": [288 0289 ],290 "image_path": {291 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg"292 }293 },294 {295 "scene_token": "08be42eb2186411d8e2201225329f1c6",296 "frame_token": "818a1bd7b7394194a85163c8d95958a9",297 "question_type": "planning",298 "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.7380,0.5926>? Why take this action and what's the probability?",299 "answer": "The action is to turn left. The reason is that there is no safety issue, which is high.",300 "tag": [301 1302 ],303 "image_path": {304 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg"305 }306 },307 {308 "scene_token": "08be42eb2186411d8e2201225329f1c6",309 "frame_token": "818a1bd7b7394194a85163c8d95958a9",310 "question_type": "planning",311 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.7380,0.5926>?",312 "answer": "Back up.",313 "tag": [314 1315 ],316 "image_path": {317 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg"318 }319 },320 {321 "scene_token": "08be42eb2186411d8e2201225329f1c6",322 "frame_token": "818a1bd7b7394194a85163c8d95958a9",323 "question_type": "planning",324 "question": "In this scenario, what are safe actions to take for the ego vehicle?",325 "answer": "Turn left, decelerate gradually without braking.",326 "tag": [327 1328 ],329 "image_path": {330 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",331 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",332 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",333 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",334 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",335 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"336 }337 },338 {339 "scene_token": "08be42eb2186411d8e2201225329f1c6",340 "frame_token": "818a1bd7b7394194a85163c8d95958a9",341 "question_type": "behavior",342 "question": "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 fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is steering to the left. The ego vehicle is driving slowly.",343 "answer": "D",344 "tag": [345 0346 ],347 "image_path": {348 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",349 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",350 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",351 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",352 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",353 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"354 }355 },356 {357 "scene_token": "08be42eb2186411d8e2201225329f1c6",358 "frame_token": "cc0114d0a58a49548f5bac6786851a08",359 "question_type": "perception",360 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",361 "answer": "There is a black car to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a silver white pickup truck to the front left of the ego vehicle, a black sedan car to the front left of the ego vehicle, a black SUV to the front right of the ego vehicle, and a black sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.8026,0.6222>, <c2,CAM_FRONT,0.8359,0.6167>, <c3,CAM_FRONT_LEFT,0.6120,0.6083>, <c4,CAM_FRONT_LEFT,0.8489,0.5852>, <c5,CAM_FRONT_RIGHT,0.2016,0.7249>, and <c6,CAM_FRONT_LEFT,0.2318,0.7176>.",362 "tag": [363 2364 ],365 "image_path": {366 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",367 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",368 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",369 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",370 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",371 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"372 }373 },374 {375 "scene_token": "08be42eb2186411d8e2201225329f1c6",376 "frame_token": "cc0114d0a58a49548f5bac6786851a08",377 "question_type": "perception",378 "question": "What is the moving status of object <c1,CAM_BACK,0.8026,0.6222>? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",379 "answer": "A",380 "tag": [381 0382 ],383 "image_path": {384 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg"385 }386 },387 {388 "scene_token": "08be42eb2186411d8e2201225329f1c6",389 "frame_token": "cc0114d0a58a49548f5bac6786851a08",390 "question_type": "prediction",391 "question": "Is <c1,CAM_BACK,0.8026,0.6222> a traffic sign or a road barrier?",392 "answer": "No.",393 "tag": [394 0395 ],396 "image_path": {397 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg"398 }399 },400 {401 "scene_token": "08be42eb2186411d8e2201225329f1c6",402 "frame_token": "cc0114d0a58a49548f5bac6786851a08",403 "question_type": "planning",404 "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.8026,0.6222>? Why take this action and what's the probability?",405 "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, and the probability is high.",406 "tag": [407 1408 ],409 "image_path": {410 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg"411 }412 },413 {414 "scene_token": "08be42eb2186411d8e2201225329f1c6",415 "frame_token": "cc0114d0a58a49548f5bac6786851a08",416 "question_type": "planning",417 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.8026,0.6222>?",418 "answer": "Back up.",419 "tag": [420 1421 ],422 "image_path": {423 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg"424 }425 },426 {427 "scene_token": "08be42eb2186411d8e2201225329f1c6",428 "frame_token": "cc0114d0a58a49548f5bac6786851a08",429 "question_type": "planning",430 "question": "In this scenario, what are safe actions to take for the ego vehicle?",431 "answer": "Keep going at the same speed, decelerate gradually without braking.",432 "tag": [433 1434 ],435 "image_path": {436 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",437 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",438 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",439 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",440 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",441 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"442 }443 },444 {445 "scene_token": "08be42eb2186411d8e2201225329f1c6",446 "frame_token": "cc0114d0a58a49548f5bac6786851a08",447 "question_type": "behavior",448 "question": "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 very fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. C. The ego vehicle is steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is going straight. The ego vehicle is driving fast.",449 "answer": "D",450 "tag": [451 0452 ],453 "image_path": {454 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",455 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",456 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",457 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",458 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",459 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"460 }461 },462 {463 "scene_token": "d033fb0d79ea42b9a356fa5162172598",464 "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",465 "question_type": "perception",466 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",467 "answer": "There is a black SUV to the back of the ego vehicle, a white car to the front of the ego vehicle, a yellow bus to the back of the ego vehicle, and a black car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6261,0.6806>, <c2,CAM_FRONT,0.0427,0.6028>, <c3,CAM_BACK,0.0089,0.4870>, and <c4,CAM_FRONT_RIGHT,0.1594,0.5953>.",468 "tag": [469 2470 ],471 "image_path": {472 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",473 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",474 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",475 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",476 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",477 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"478 }479 },480 {481 "scene_token": "d033fb0d79ea42b9a356fa5162172598",482 "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",483 "question_type": "perception",484 "question": "What is the moving status of object <c1,CAM_BACK,0.6261,0.6806>? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",485 "answer": "A",486 "tag": [487 0488 ],489 "image_path": {490 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg"491 }492 },493 {494 "scene_token": "d033fb0d79ea42b9a356fa5162172598",495 "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",496 "question_type": "prediction",497 "question": "Is <c1,CAM_BACK,0.6261,0.6806> a traffic sign or a road barrier?",498 "answer": "No.",499 "tag": [500 0501 ],502 "image_path": {503 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg"504 }505 },506 {507 "scene_token": "d033fb0d79ea42b9a356fa5162172598",508 "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",509 "question_type": "planning",510 "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6261,0.6806>? Why take this action and what's the probability?",511 "answer": "The action is to turn left because the object has little reference value for the ego vehicle, with a high probability.",512 "tag": [513 1514 ],515 "image_path": {516 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg"517 }518 },519 {520 "scene_token": "d033fb0d79ea42b9a356fa5162172598",521 "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",522 "question_type": "planning",523 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6261,0.6806>?",524 "answer": "Back up.",525 "tag": [526 1527 ],528 "image_path": {529 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg"530 }531 },532 {533 "scene_token": "d033fb0d79ea42b9a356fa5162172598",534 "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",535 "question_type": "planning",536 "question": "In this scenario, what are safe actions to take for the ego vehicle?",537 "answer": "Keep going at the same speed and turn left.",538 "tag": [539 1540 ],541 "image_path": {542 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",543 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",544 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",545 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",546 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",547 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"548 }549 },550 {551 "scene_token": "d033fb0d79ea42b9a356fa5162172598",552 "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",553 "question_type": "behavior",554 "question": "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 slightly steering to the right. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is steering to the left. The ego vehicle is driving very fast.",555 "answer": "A",556 "tag": [557 0558 ],559 "image_path": {560 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",561 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",562 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",563 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",564 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",565 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"566 }567 },568 {569 "scene_token": "bc4fd5a05a004333b9411754630f4cba",570 "frame_token": "f317f943545d4e3086bf375c93ff8dff",571 "question_type": "perception",572 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",573 "answer": "There is a brown Jeep to the front left of the ego vehicle, a white van to the front of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.5172,0.5481>, <c2,CAM_FRONT,0.5583,0.5074>, and <c3,CAM_FRONT_RIGHT,0.3747,0.7290>.",574 "tag": [575 2576 ],577 "image_path": {578 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",579 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",580 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",581 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",582 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",583 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"584 }585 },586 {587 "scene_token": "bc4fd5a05a004333b9411754630f4cba",588 "frame_token": "f317f943545d4e3086bf375c93ff8dff",589 "question_type": "perception",590 "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.5172,0.5481>? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",591 "answer": "A",592 "tag": [593 0594 ],595 "image_path": {596 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg"597 }598 },599 {600 "scene_token": "bc4fd5a05a004333b9411754630f4cba",601 "frame_token": "f317f943545d4e3086bf375c93ff8dff",602 "question_type": "prediction",603 "question": "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?",604 "answer": "Firstly, notice that black sedan at right camera. The object is stationary, so the ego vehicle should turn left. Secondly, notice that brown jeep at left camera. The object is moving forward, so the ego vehicle should turn left. Thirdly, notice that white van at front camera. The object is stationary, so the ego vehicle should turn left.",605 "tag": [606 3607 ],608 "image_path": {609 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",610 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",611 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",612 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",613 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",614 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"615 }616 },617 {618 "scene_token": "bc4fd5a05a004333b9411754630f4cba",619 "frame_token": "f317f943545d4e3086bf375c93ff8dff",620 "question_type": "prediction",621 "question": "Is <c1,CAM_FRONT_LEFT,0.5172,0.5481> a traffic sign or a road barrier?",622 "answer": "No.",623 "tag": [624 0625 ],626 "image_path": {627 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg"628 }629 },630 {631 "scene_token": "bc4fd5a05a004333b9411754630f4cba",632 "frame_token": "f317f943545d4e3086bf375c93ff8dff",633 "question_type": "planning",634 "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.5172,0.5481>? Why take this action and what's the probability?",635 "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",636 "tag": [637 1638 ],639 "image_path": {640 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg"641 }642 },643 {644 "scene_token": "bc4fd5a05a004333b9411754630f4cba",645 "frame_token": "f317f943545d4e3086bf375c93ff8dff",646 "question_type": "planning",647 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.5172,0.5481>?",648 "answer": "Moderate left turn.",649 "tag": [650 1651 ],652 "image_path": {653 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg"654 }655 },656 {657 "scene_token": "bc4fd5a05a004333b9411754630f4cba",658 "frame_token": "f317f943545d4e3086bf375c93ff8dff",659 "question_type": "planning",660 "question": "In this scenario, what are safe actions to take for the ego vehicle?",661 "answer": "Keep going at the same speed, decelerate gradually without braking, change to the left lane, and turn left.",662 "tag": [663 1664 ],665 "image_path": {666 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",667 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",668 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",669 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",670 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",671 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"672 }673 },674 {675 "scene_token": "bc4fd5a05a004333b9411754630f4cba",676 "frame_token": "f317f943545d4e3086bf375c93ff8dff",677 "question_type": "behavior",678 "question": "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 slightly steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is steering to the right. The ego vehicle is driving very fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast.",679 "answer": "A",680 "tag": [681 0682 ],683 "image_path": {684 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",685 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",686 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",687 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",688 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",689 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"690 }691 },692 {693 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",694 "frame_token": "378b6469011f452daf80371beb17c5aa",695 "question_type": "perception",696 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",697 "answer": "There is a white truck to the front of the ego vehicle, a white bus to the back of the ego vehicle, a white pickup truck to the front of the ego vehicle, a golden car to the back right of the ego vehicle, a black sedan to the back left of the ego vehicle, and a no right turn to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4089,0.5102>, <c2,CAM_BACK,0.5505,0.5453>, <c3,CAM_FRONT,0.6245,0.5496>, <c4,CAM_BACK_RIGHT,0.7442,0.6880>, <c5,CAM_BACK_LEFT,0.6891,0.6713>, and <c6,CAM_FRONT_RIGHT,0.0739,0.5237>.",698 "tag": [699 2700 ],701 "image_path": {702 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",703 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",704 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",705 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",706 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",707 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"708 }709 },710 {711 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",712 "frame_token": "378b6469011f452daf80371beb17c5aa",713 "question_type": "perception",714 "question": "What is the moving status of object <c1,CAM_FRONT,0.4089,0.5102>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",715 "answer": "B",716 "tag": [717 0718 ],719 "image_path": {720 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg"721 }722 },723 {724 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",725 "frame_token": "378b6469011f452daf80371beb17c5aa",726 "question_type": "prediction",727 "question": "Is <c1,CAM_FRONT,0.4089,0.5102> a traffic sign or a road barrier?",728 "answer": "No.",729 "tag": [730 0731 ],732 "image_path": {733 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg"734 }735 },736 {737 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",738 "frame_token": "378b6469011f452daf80371beb17c5aa",739 "question_type": "planning",740 "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4089,0.5102>? Why take this action and what's the probability?",741 "answer": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision, which has a high probability.",742 "tag": [743 1744 ],745 "image_path": {746 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg"747 }748 },749 {750 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",751 "frame_token": "378b6469011f452daf80371beb17c5aa",752 "question_type": "planning",753 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4089,0.5102>?",754 "answer": "Accelerate and go straight.",755 "tag": [756 1757 ],758 "image_path": {759 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg"760 }761 },762 {763 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",764 "frame_token": "378b6469011f452daf80371beb17c5aa",765 "question_type": "planning",766 "question": "In this scenario, what are safe actions to take for the ego vehicle?",767 "answer": "Accelerate and proceed.",768 "tag": [769 1770 ],771 "image_path": {772 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",773 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",774 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",775 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",776 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",777 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"778 }779 },780 {781 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",782 "frame_token": "378b6469011f452daf80371beb17c5aa",783 "question_type": "behavior",784 "question": "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 going straight. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast.",785 "answer": "D",786 "tag": [787 0788 ],789 "image_path": {790 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",791 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",792 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",793 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",794 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",795 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"796 }797 },798 {799 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",800 "frame_token": "344756cb198944cea21f886bd859136b",801 "question_type": "perception",802 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",803 "answer": "There is a black SUV to the front right of the ego vehicle, a black car to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a white bus to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.6999,0.7006>, <c2,CAM_FRONT_RIGHT,0.2199,0.6148>, <c3,CAM_FRONT,0.3266,0.5370>, <c4,CAM_BACK,0.4442,0.5436>, <c5,CAM_FRONT,0.1609,0.6491>, and <c6,CAM_FRONT,0.5766,0.3392>.",804 "tag": [805 2806 ],807 "image_path": {808 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",809 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",810 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",811 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",812 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",813 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"814 }815 },816 {817 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",818 "frame_token": "344756cb198944cea21f886bd859136b",819 "question_type": "perception",820 "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.6999,0.7006>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",821 "answer": "A",822 "tag": [823 0824 ],825 "image_path": {826 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg"827 }828 },829 {830 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",831 "frame_token": "344756cb198944cea21f886bd859136b",832 "question_type": "prediction",833 "question": "Is <c1,CAM_FRONT_RIGHT,0.6999,0.7006> a traffic sign or a road barrier?",834 "answer": "No.",835 "tag": [836 0837 ],838 "image_path": {839 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg"840 }841 },842 {843 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",844 "frame_token": "344756cb198944cea21f886bd859136b",845 "question_type": "planning",846 "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.6999,0.7006>? Why take this action and what's the probability?",847 "answer": "The action is to keep going at the same speed because there is no safety issue. The probability is high.",848 "tag": [849 1850 ],851 "image_path": {852 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg"853 }854 },855 {856 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",857 "frame_token": "344756cb198944cea21f886bd859136b",858 "question_type": "planning",859 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.6999,0.7006>?",860 "answer": "Sharp right turn.",861 "tag": [862 1863 ],864 "image_path": {865 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg"866 }867 },868 {869 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",870 "frame_token": "344756cb198944cea21f886bd859136b",871 "question_type": "planning",872 "question": "In this scenario, what are safe actions to take for the ego vehicle?",873 "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",874 "tag": [875 1876 ],877 "image_path": {878 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",879 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",880 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",881 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",882 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",883 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"884 }885 },886 {887 "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",888 "frame_token": "344756cb198944cea21f886bd859136b",889 "question_type": "behavior",890 "question": "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 going straight. The ego vehicle is driving very fast. C. The ego vehicle is going straight. The ego vehicle is driving slowly. D. The ego vehicle is going straight. The ego vehicle is driving fast.",891 "answer": "D",892 "tag": [893 0894 ],895 "image_path": {896 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",897 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",898 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",899 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",900 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",901 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"902 }903 },904 {905 "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",906 "frame_token": "73376e2fc5d34c758cc155facd35fffa",907 "question_type": "perception",908 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",909 "answer": "There is a black car to the front of the ego vehicle, a silver sedan to the front left of the ego vehicle, and a blue car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4427,0.5389>, <c2,CAM_FRONT_LEFT,0.4088,0.7663>, and <c3,CAM_BACK_LEFT,0.2036,0.7519>.",910 "tag": [911 2912 ],913 "image_path": {914 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",915 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",916 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",917 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",918 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",919 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"920 }921 },922 {923 "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",924 "frame_token": "73376e2fc5d34c758cc155facd35fffa",925 "question_type": "perception",926 "question": "What is the moving status of object <c1,CAM_FRONT,0.4427,0.5389>? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",927 "answer": "B",928 "tag": [929 0930 ],931 "image_path": {932 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg"933 }934 },935 {936 "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",937 "frame_token": "73376e2fc5d34c758cc155facd35fffa",938 "question_type": "prediction",939 "question": "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?",940 "answer": "Firstly, notice that black car at front camera. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that silver sedan at left camera. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that blue car at left rear camera. The object is stationary, so the ego vehicle should continue going ahead at the same speed.",941 "tag": [942 3943 ],944 "image_path": {945 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",946 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",947 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",948 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",949 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",950 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"951 }952 },953 {954 "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",955 "frame_token": "73376e2fc5d34c758cc155facd35fffa",956 "question_type": "prediction",957 "question": "Is <c1,CAM_FRONT,0.4427,0.5389> a traffic sign or a road barrier?",958 "answer": "No.",959 "tag": [960 0961 ],962 "image_path": {963 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg"964 }965 },966 {967 "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",968 "frame_token": "73376e2fc5d34c758cc155facd35fffa",969 "question_type": "planning",970 "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4427,0.5389>? Why take this action and what's the probability?",971 "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is low.",972 "tag": [973 1974 ],975 "image_path": {976 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg"977 }978 },979 {980 "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",981 "frame_token": "73376e2fc5d34c758cc155facd35fffa",982 "question_type": "planning",983 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4427,0.5389>?",984 "answer": "Accelerating and going straight.",985 "tag": [986 1987 ],988 "image_path": {989 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg"990 }991 },992 {993 "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",994 "frame_token": "73376e2fc5d34c758cc155facd35fffa",995 "question_type": "planning",996 "question": "In this scenario, what are safe actions to take for the ego vehicle?",997 "answer": "Keep going at the same speed, slightly offset to the right.",998 "tag": [999 11000 ],1001 "image_path": {1002 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1003 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1004 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1005 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1006 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1007 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1008 }1009 },1010 {1011 "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1012 "frame_token": "73376e2fc5d34c758cc155facd35fffa",1013 "question_type": "behavior",1014 "question": "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 very fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed.",1015 "answer": "B",1016 "tag": [1017 01018 ],1019 "image_path": {1020 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1021 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1022 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1023 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1024 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1025 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1026 }1027 },1028 {1029 "scene_token": "78c5f7d7b547483c906d8524a8c3190f",1030 "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",1031 "question_type": "perception",1032 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",1033 "answer": "There is a red car to the front right of the ego vehicle, a black sedan to the back left of the ego vehicle, a black sedan to the back of the ego vehicle, and a pedestrian crossing line to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.3661,0.6759>, <c2,CAM_BACK_LEFT,0.3286,0.5861>, <c3,CAM_BACK,0.4536,0.5361>, and <c4,CAM_FRONT,0.3468,0.8866>.",1034 "tag": [1035 21036 ],1037 "image_path": {1038 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",1039 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",1040 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",1041 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",1042 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",1043 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"1044 }1045 },1046 {1047 "scene_token": "78c5f7d7b547483c906d8524a8c3190f",1048 "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",1049 "question_type": "perception",1050 "question": "What is the moving status of object <c2,CAM_BACK_LEFT,0.3286,0.5861>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",1051 "answer": "B",1052 "tag": [1053 01054 ],1055 "image_path": {1056 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg"1057 }1058 },1059 {1060 "scene_token": "78c5f7d7b547483c906d8524a8c3190f",1061 "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",1062 "question_type": "prediction",1063 "question": "Is <c1,CAM_FRONT_RIGHT,0.3661,0.6759> a traffic sign or a road barrier?",1064 "answer": "No.",1065 "tag": [1066 01067 ],1068 "image_path": {1069 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg"1070 }1071 },1072 {1073 "scene_token": "78c5f7d7b547483c906d8524a8c3190f",1074 "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",1075 "question_type": "planning",1076 "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.3661,0.6759>? Why take this action and what's the probability?",1077 "answer": "The action is to keep going at the same speed because there is no safety issue. The probability of this action is high.",1078 "tag": [1079 11080 ],1081 "image_path": {1082 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg"1083 }1084 },1085 {1086 "scene_token": "78c5f7d7b547483c906d8524a8c3190f",1087 "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",1088 "question_type": "planning",1089 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.3661,0.6759>?",1090 "answer": "No such action will lead to a collision.",1091 "tag": [1092 11093 ],1094 "image_path": {1095 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg"1096 }1097 },1098 {1099 "scene_token": "78c5f7d7b547483c906d8524a8c3190f",1100 "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",1101 "question_type": "planning",1102 "question": "In this scenario, what are safe actions to take for the ego vehicle?",1103 "answer": "Keep going at the same speed, decelerate gradually without braking.",1104 "tag": [1105 11106 ],1107 "image_path": {1108 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",1109 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",1110 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",1111 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",1112 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",1113 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"1114 }1115 },1116 {1117 "scene_token": "78c5f7d7b547483c906d8524a8c3190f",1118 "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",1119 "question_type": "behavior",1120 "question": "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 slightly steering to the left. 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 steering to the left. The ego vehicle is driving fast.",1121 "answer": "C",1122 "tag": [1123 01124 ],1125 "image_path": {1126 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",1127 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",1128 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",1129 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",1130 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",1131 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"1132 }1133 },1134 {1135 "scene_token": "cf652a711c8e40209132036a95162fed",1136 "frame_token": "751b62e2666e4144a1660fb962b2bd67",1137 "question_type": "perception",1138 "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",1139 "answer": "There is a yellow sedan to the back of the ego vehicle, a person riding a motorcycle to the back right of the ego vehicle, a yellow bus to the front right of the ego vehicle, and a yellow roadblock to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6323,0.6314>, <c2,CAM_BACK_RIGHT,0.5146,0.7500>, <c3,CAM_FRONT_RIGHT,0.7364,0.4342>, and <c4,CAM_FRONT,0.9389,0.3974>.",1140 "tag": [1141 21142 ],1143 "image_path": {1144 "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",1145 "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",1146 "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",1147 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",1148 "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",1149 "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986128427893.jpg"1150 }1151 },1152 {1153 "scene_token": "cf652a711c8e40209132036a95162fed",1154 "frame_token": "751b62e2666e4144a1660fb962b2bd67",1155 "question_type": "perception",1156 "question": "What is the moving status of object <c1,CAM_BACK,0.6323,0.6314>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",1157 "answer": "B",1158 "tag": [1159 01160 ],1161 "image_path": {1162 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg"1163 }1164 },1165 {1166 "scene_token": "cf652a711c8e40209132036a95162fed",1167 "frame_token": "751b62e2666e4144a1660fb962b2bd67",1168 "question_type": "prediction",1169 "question": "Is <c1,CAM_BACK,0.6323,0.6314> a traffic sign or a road barrier?",1170 "answer": "No.",1171 "tag": [1172 01173 ],1174 "image_path": {1175 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg"1176 }1177 },1178 {1179 "scene_token": "cf652a711c8e40209132036a95162fed",1180 "frame_token": "751b62e2666e4144a1660fb962b2bd67",1181 "question_type": "planning",1182 "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6323,0.6314>? Why take this action and what's the probability?",1183 "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high.",1184 "tag": [1185 11186 ],1187 "image_path": {1188 "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg"1189 }1190 },1191 {1192 "scene_token": "cf652a711c8e40209132036a95162fed",1193 "frame_token": "751b62e2666e4144a1660fb962b2bd67",1194 "question_type": "planning",1195 "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6323,0.6314>?",1196 "answer": "Brake suddenly.",1197 "tag": [1198 11199 ],1200 "image_path": {