LinYC2024/benchDrive

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_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",31      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",32      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",33      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",34      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",35      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"36    }37  },38  {39    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",40    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",41    "question_type": "prediction",42    "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?",43    "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.",44    "tag": [45      346    ],47    "image_path": {48      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",49      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",50      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",51      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",52      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",53      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"54    }55  },56  {57    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",58    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",59    "question_type": "prediction",60    "question": "Is <c1,CAM_BACK,0.5073,0.5778> a traffic sign or a road barrier?",61    "answer": "No.",62    "tag": [63      064    ],65    "image_path": {66      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",67      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",68      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",69      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",70      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",71      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"72    }73  },74  {75    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",76    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",77    "question_type": "planning",78    "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?",79    "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.",80    "tag": [81      182    ],83    "image_path": {84      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",85      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",86      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",87      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",88      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",89      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"90    }91  },92  {93    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",94    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",95    "question_type": "planning",96    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5073,0.5778>?",97    "answer": "Back up.",98    "tag": [99      1100    ],101    "image_path": {102      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",103      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",104      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",105      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",106      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",107      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"108    }109  },110  {111    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",112    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",113    "question_type": "planning",114    "question": "In this scenario, what are safe actions to take for the ego vehicle?",115    "answer": "Keep going at the same speed, accelerate, and continue ahead.",116    "tag": [117      1118    ],119    "image_path": {120      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",121      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",122      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",123      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",124      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",125      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"126    }127  },128  {129    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",130    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",131    "question_type": "behavior",132    "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.",133    "answer": "C",134    "tag": [135      0136    ],137    "image_path": {138      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",139      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",140      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",141      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",142      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",143      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"144    }145  },146  {147    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",148    "frame_token": "2d493b2677f84ca190bb6c205899251a",149    "question_type": "perception",150    "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",151    "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>.",152    "tag": [153      2154    ],155    "image_path": {156      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",157      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",158      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",159      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",160      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",161      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"162    }163  },164  {165    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",166    "frame_token": "2d493b2677f84ca190bb6c205899251a",167    "question_type": "perception",168    "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.",169    "answer": "C",170    "tag": [171      0172    ],173    "image_path": {174      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",175      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",176      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",177      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",178      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",179      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"180    }181  },182  {183    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",184    "frame_token": "2d493b2677f84ca190bb6c205899251a",185    "question_type": "prediction",186    "question": "Is <c1,CAM_BACK,0.5364,0.4806> a traffic sign or a road barrier?",187    "answer": "No.",188    "tag": [189      0190    ],191    "image_path": {192      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",193      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",194      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",195      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",196      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",197      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"198    }199  },200  {201    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",202    "frame_token": "2d493b2677f84ca190bb6c205899251a",203    "question_type": "planning",204    "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?",205    "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.",206    "tag": [207      1208    ],209    "image_path": {210      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",211      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",212      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",213      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",214      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",215      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"216    }217  },218  {219    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",220    "frame_token": "2d493b2677f84ca190bb6c205899251a",221    "question_type": "planning",222    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5364,0.4806>?",223    "answer": "Back up.",224    "tag": [225      1226    ],227    "image_path": {228      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",229      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",230      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",231      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",232      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",233      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"234    }235  },236  {237    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",238    "frame_token": "2d493b2677f84ca190bb6c205899251a",239    "question_type": "planning",240    "question": "In this scenario, what are safe actions to take for the ego vehicle?",241    "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.",242    "tag": [243      1244    ],245    "image_path": {246      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",247      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",248      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",249      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",250      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",251      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"252    }253  },254  {255    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",256    "frame_token": "2d493b2677f84ca190bb6c205899251a",257    "question_type": "behavior",258    "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.",259    "answer": "A",260    "tag": [261      0262    ],263    "image_path": {264      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",265      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",266      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",267      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",268      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",269      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"270    }271  },272  {273    "scene_token": "08be42eb2186411d8e2201225329f1c6",274    "frame_token": "818a1bd7b7394194a85163c8d95958a9",275    "question_type": "perception",276    "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",277    "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>.",278    "tag": [279      2280    ],281    "image_path": {282      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",283      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",284      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",285      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",286      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",287      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"288    }289  },290  {291    "scene_token": "08be42eb2186411d8e2201225329f1c6",292    "frame_token": "818a1bd7b7394194a85163c8d95958a9",293    "question_type": "perception",294    "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.",295    "answer": "C",296    "tag": [297      0298    ],299    "image_path": {300      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",301      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",302      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",303      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",304      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",305      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"306    }307  },308  {309    "scene_token": "08be42eb2186411d8e2201225329f1c6",310    "frame_token": "818a1bd7b7394194a85163c8d95958a9",311    "question_type": "prediction",312    "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?",313    "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.",314    "tag": [315      3316    ],317    "image_path": {318      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",319      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",320      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",321      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",322      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",323      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"324    }325  },326  {327    "scene_token": "08be42eb2186411d8e2201225329f1c6",328    "frame_token": "818a1bd7b7394194a85163c8d95958a9",329    "question_type": "prediction",330    "question": "Is <c1,CAM_BACK,0.7380,0.5926> a traffic sign or a road barrier?",331    "answer": "No.",332    "tag": [333      0334    ],335    "image_path": {336      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",337      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",338      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",339      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",340      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",341      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"342    }343  },344  {345    "scene_token": "08be42eb2186411d8e2201225329f1c6",346    "frame_token": "818a1bd7b7394194a85163c8d95958a9",347    "question_type": "planning",348    "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?",349    "answer": "The action is to turn left. The reason is that there is no safety issue, which is high.",350    "tag": [351      1352    ],353    "image_path": {354      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",355      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",356      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",357      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",358      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",359      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"360    }361  },362  {363    "scene_token": "08be42eb2186411d8e2201225329f1c6",364    "frame_token": "818a1bd7b7394194a85163c8d95958a9",365    "question_type": "planning",366    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.7380,0.5926>?",367    "answer": "Back up.",368    "tag": [369      1370    ],371    "image_path": {372      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",373      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",374      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",375      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",376      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",377      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"378    }379  },380  {381    "scene_token": "08be42eb2186411d8e2201225329f1c6",382    "frame_token": "818a1bd7b7394194a85163c8d95958a9",383    "question_type": "planning",384    "question": "In this scenario, what are safe actions to take for the ego vehicle?",385    "answer": "Turn left, decelerate gradually without braking.",386    "tag": [387      1388    ],389    "image_path": {390      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",391      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",392      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",393      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",394      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",395      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"396    }397  },398  {399    "scene_token": "08be42eb2186411d8e2201225329f1c6",400    "frame_token": "818a1bd7b7394194a85163c8d95958a9",401    "question_type": "behavior",402    "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.",403    "answer": "D",404    "tag": [405      0406    ],407    "image_path": {408      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",409      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",410      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",411      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",412      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",413      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"414    }415  },416  {417    "scene_token": "08be42eb2186411d8e2201225329f1c6",418    "frame_token": "cc0114d0a58a49548f5bac6786851a08",419    "question_type": "perception",420    "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",421    "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>.",422    "tag": [423      2424    ],425    "image_path": {426      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",427      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",428      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",429      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",430      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",431      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"432    }433  },434  {435    "scene_token": "08be42eb2186411d8e2201225329f1c6",436    "frame_token": "cc0114d0a58a49548f5bac6786851a08",437    "question_type": "perception",438    "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.",439    "answer": "A",440    "tag": [441      0442    ],443    "image_path": {444      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",445      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",446      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",447      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",448      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",449      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"450    }451  },452  {453    "scene_token": "08be42eb2186411d8e2201225329f1c6",454    "frame_token": "cc0114d0a58a49548f5bac6786851a08",455    "question_type": "prediction",456    "question": "Is <c1,CAM_BACK,0.8026,0.6222> a traffic sign or a road barrier?",457    "answer": "No.",458    "tag": [459      0460    ],461    "image_path": {462      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",463      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",464      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",465      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",466      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",467      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"468    }469  },470  {471    "scene_token": "08be42eb2186411d8e2201225329f1c6",472    "frame_token": "cc0114d0a58a49548f5bac6786851a08",473    "question_type": "planning",474    "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?",475    "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.",476    "tag": [477      1478    ],479    "image_path": {480      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",481      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",482      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",483      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",484      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",485      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"486    }487  },488  {489    "scene_token": "08be42eb2186411d8e2201225329f1c6",490    "frame_token": "cc0114d0a58a49548f5bac6786851a08",491    "question_type": "planning",492    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.8026,0.6222>?",493    "answer": "Back up.",494    "tag": [495      1496    ],497    "image_path": {498      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",499      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",500      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",501      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",502      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",503      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"504    }505  },506  {507    "scene_token": "08be42eb2186411d8e2201225329f1c6",508    "frame_token": "cc0114d0a58a49548f5bac6786851a08",509    "question_type": "planning",510    "question": "In this scenario, what are safe actions to take for the ego vehicle?",511    "answer": "Keep going at the same speed, decelerate gradually without braking.",512    "tag": [513      1514    ],515    "image_path": {516      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",517      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",518      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",519      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",520      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",521      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"522    }523  },524  {525    "scene_token": "08be42eb2186411d8e2201225329f1c6",526    "frame_token": "cc0114d0a58a49548f5bac6786851a08",527    "question_type": "behavior",528    "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.",529    "answer": "D",530    "tag": [531      0532    ],533    "image_path": {534      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",535      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",536      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",537      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",538      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",539      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"540    }541  },542  {543    "scene_token": "d033fb0d79ea42b9a356fa5162172598",544    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",545    "question_type": "perception",546    "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",547    "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>.",548    "tag": [549      2550    ],551    "image_path": {552      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",553      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",554      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",555      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",556      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",557      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"558    }559  },560  {561    "scene_token": "d033fb0d79ea42b9a356fa5162172598",562    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",563    "question_type": "perception",564    "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.",565    "answer": "A",566    "tag": [567      0568    ],569    "image_path": {570      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",571      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",572      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",573      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",574      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",575      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"576    }577  },578  {579    "scene_token": "d033fb0d79ea42b9a356fa5162172598",580    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",581    "question_type": "prediction",582    "question": "Is <c1,CAM_BACK,0.6261,0.6806> a traffic sign or a road barrier?",583    "answer": "No.",584    "tag": [585      0586    ],587    "image_path": {588      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",589      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",590      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",591      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",592      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",593      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"594    }595  },596  {597    "scene_token": "d033fb0d79ea42b9a356fa5162172598",598    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",599    "question_type": "planning",600    "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?",601    "answer": "The action is to turn left because the object has little reference value for the ego vehicle, with a high probability.",602    "tag": [603      1604    ],605    "image_path": {606      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",607      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",608      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",609      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",610      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",611      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"612    }613  },614  {615    "scene_token": "d033fb0d79ea42b9a356fa5162172598",616    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",617    "question_type": "planning",618    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6261,0.6806>?",619    "answer": "Back up.",620    "tag": [621      1622    ],623    "image_path": {624      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",625      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",626      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",627      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",628      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",629      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"630    }631  },632  {633    "scene_token": "d033fb0d79ea42b9a356fa5162172598",634    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",635    "question_type": "planning",636    "question": "In this scenario, what are safe actions to take for the ego vehicle?",637    "answer": "Keep going at the same speed and turn left.",638    "tag": [639      1640    ],641    "image_path": {642      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",643      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",644      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",645      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",646      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",647      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"648    }649  },650  {651    "scene_token": "d033fb0d79ea42b9a356fa5162172598",652    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",653    "question_type": "behavior",654    "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.",655    "answer": "A",656    "tag": [657      0658    ],659    "image_path": {660      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",661      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",662      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",663      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",664      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",665      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"666    }667  },668  {669    "scene_token": "bc4fd5a05a004333b9411754630f4cba",670    "frame_token": "f317f943545d4e3086bf375c93ff8dff",671    "question_type": "perception",672    "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",673    "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>.",674    "tag": [675      2676    ],677    "image_path": {678      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",679      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",680      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",681      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",682      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",683      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"684    }685  },686  {687    "scene_token": "bc4fd5a05a004333b9411754630f4cba",688    "frame_token": "f317f943545d4e3086bf375c93ff8dff",689    "question_type": "perception",690    "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.",691    "answer": "A",692    "tag": [693      0694    ],695    "image_path": {696      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",697      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",698      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",699      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",700      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",701      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"702    }703  },704  {705    "scene_token": "bc4fd5a05a004333b9411754630f4cba",706    "frame_token": "f317f943545d4e3086bf375c93ff8dff",707    "question_type": "prediction",708    "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?",709    "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.",710    "tag": [711      3712    ],713    "image_path": {714      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",715      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",716      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",717      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",718      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",719      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"720    }721  },722  {723    "scene_token": "bc4fd5a05a004333b9411754630f4cba",724    "frame_token": "f317f943545d4e3086bf375c93ff8dff",725    "question_type": "prediction",726    "question": "Is <c1,CAM_FRONT_LEFT,0.5172,0.5481> a traffic sign or a road barrier?",727    "answer": "No.",728    "tag": [729      0730    ],731    "image_path": {732      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",733      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",734      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",735      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",736      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",737      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"738    }739  },740  {741    "scene_token": "bc4fd5a05a004333b9411754630f4cba",742    "frame_token": "f317f943545d4e3086bf375c93ff8dff",743    "question_type": "planning",744    "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?",745    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",746    "tag": [747      1748    ],749    "image_path": {750      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",751      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",752      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",753      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",754      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",755      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"756    }757  },758  {759    "scene_token": "bc4fd5a05a004333b9411754630f4cba",760    "frame_token": "f317f943545d4e3086bf375c93ff8dff",761    "question_type": "planning",762    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.5172,0.5481>?",763    "answer": "Moderate left turn.",764    "tag": [765      1766    ],767    "image_path": {768      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",769      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",770      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",771      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",772      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",773      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"774    }775  },776  {777    "scene_token": "bc4fd5a05a004333b9411754630f4cba",778    "frame_token": "f317f943545d4e3086bf375c93ff8dff",779    "question_type": "planning",780    "question": "In this scenario, what are safe actions to take for the ego vehicle?",781    "answer": "Keep going at the same speed, decelerate gradually without braking, change to the left lane, and turn left.",782    "tag": [783      1784    ],785    "image_path": {786      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",787      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",788      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",789      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",790      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",791      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"792    }793  },794  {795    "scene_token": "bc4fd5a05a004333b9411754630f4cba",796    "frame_token": "f317f943545d4e3086bf375c93ff8dff",797    "question_type": "behavior",798    "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.",799    "answer": "A",800    "tag": [801      0802    ],803    "image_path": {804      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",805      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",806      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",807      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",808      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",809      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"810    }811  },812  {813    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",814    "frame_token": "378b6469011f452daf80371beb17c5aa",815    "question_type": "perception",816    "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",817    "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>.",818    "tag": [819      2820    ],821    "image_path": {822      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",823      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",824      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",825      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",826      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",827      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"828    }829  },830  {831    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",832    "frame_token": "378b6469011f452daf80371beb17c5aa",833    "question_type": "perception",834    "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.",835    "answer": "B",836    "tag": [837      0838    ],839    "image_path": {840      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",841      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",842      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",843      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",844      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",845      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"846    }847  },848  {849    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",850    "frame_token": "378b6469011f452daf80371beb17c5aa",851    "question_type": "prediction",852    "question": "Is <c1,CAM_FRONT,0.4089,0.5102> a traffic sign or a road barrier?",853    "answer": "No.",854    "tag": [855      0856    ],857    "image_path": {858      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",859      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",860      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",861      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",862      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",863      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"864    }865  },866  {867    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",868    "frame_token": "378b6469011f452daf80371beb17c5aa",869    "question_type": "planning",870    "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?",871    "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.",872    "tag": [873      1874    ],875    "image_path": {876      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",877      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",878      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",879      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",880      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",881      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"882    }883  },884  {885    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",886    "frame_token": "378b6469011f452daf80371beb17c5aa",887    "question_type": "planning",888    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4089,0.5102>?",889    "answer": "Accelerate and go straight.",890    "tag": [891      1892    ],893    "image_path": {894      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",895      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",896      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",897      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",898      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",899      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"900    }901  },902  {903    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",904    "frame_token": "378b6469011f452daf80371beb17c5aa",905    "question_type": "planning",906    "question": "In this scenario, what are safe actions to take for the ego vehicle?",907    "answer": "Accelerate and proceed.",908    "tag": [909      1910    ],911    "image_path": {912      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",913      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",914      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",915      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",916      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",917      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"918    }919  },920  {921    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",922    "frame_token": "378b6469011f452daf80371beb17c5aa",923    "question_type": "behavior",924    "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.",925    "answer": "D",926    "tag": [927      0928    ],929    "image_path": {930      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",931      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",932      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",933      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",934      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",935      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"936    }937  },938  {939    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",940    "frame_token": "344756cb198944cea21f886bd859136b",941    "question_type": "perception",942    "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",943    "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>.",944    "tag": [945      2946    ],947    "image_path": {948      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",949      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",950      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",951      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",952      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",953      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"954    }955  },956  {957    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",958    "frame_token": "344756cb198944cea21f886bd859136b",959    "question_type": "perception",960    "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.",961    "answer": "A",962    "tag": [963      0964    ],965    "image_path": {966      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",967      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",968      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",969      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",970      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",971      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"972    }973  },974  {975    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",976    "frame_token": "344756cb198944cea21f886bd859136b",977    "question_type": "prediction",978    "question": "Is <c1,CAM_FRONT_RIGHT,0.6999,0.7006> a traffic sign or a road barrier?",979    "answer": "No.",980    "tag": [981      0982    ],983    "image_path": {984      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",985      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",986      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",987      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",988      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",989      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"990    }991  },992  {993    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",994    "frame_token": "344756cb198944cea21f886bd859136b",995    "question_type": "planning",996    "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?",997    "answer": "The action is to keep going at the same speed because there is no safety issue. The probability is high.",998    "tag": [999      11000    ],1001    "image_path": {1002      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1003      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1004      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1005      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1006      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1007      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"1008    }1009  },1010  {1011    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",1012    "frame_token": "344756cb198944cea21f886bd859136b",1013    "question_type": "planning",1014    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.6999,0.7006>?",1015    "answer": "Sharp right turn.",1016    "tag": [1017      11018    ],1019    "image_path": {1020      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1021      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1022      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1023      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1024      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1025      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"1026    }1027  },1028  {1029    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",1030    "frame_token": "344756cb198944cea21f886bd859136b",1031    "question_type": "planning",1032    "question": "In this scenario, what are safe actions to take for the ego vehicle?",1033    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",1034    "tag": [1035      11036    ],1037    "image_path": {1038      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1039      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1040      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1041      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1042      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1043      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"1044    }1045  },1046  {1047    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",1048    "frame_token": "344756cb198944cea21f886bd859136b",1049    "question_type": "behavior",1050    "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.",1051    "answer": "D",1052    "tag": [1053      01054    ],1055    "image_path": {1056      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1057      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1058      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1059      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1060      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1061      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"1062    }1063  },1064  {1065    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1066    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1067    "question_type": "perception",1068    "question": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",1069    "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>.",1070    "tag": [1071      21072    ],1073    "image_path": {1074      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1075      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1076      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1077      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1078      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1079      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1080    }1081  },1082  {1083    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1084    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1085    "question_type": "perception",1086    "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.",1087    "answer": "B",1088    "tag": [1089      01090    ],1091    "image_path": {1092      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1093      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1094      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1095      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1096      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1097      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1098    }1099  },1100  {1101    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1102    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1103    "question_type": "prediction",1104    "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?",1105    "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.",1106    "tag": [1107      31108    ],1109    "image_path": {1110      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1111      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1112      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1113      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1114      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1115      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1116    }1117  },1118  {1119    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1120    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1121    "question_type": "prediction",1122    "question": "Is <c1,CAM_FRONT,0.4427,0.5389> a traffic sign or a road barrier?",1123    "answer": "No.",1124    "tag": [1125      01126    ],1127    "image_path": {1128      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1129      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1130      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1131      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1132      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1133      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1134    }1135  },1136  {1137    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1138    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1139    "question_type": "planning",1140    "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?",1141    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is low.",1142    "tag": [1143      11144    ],1145    "image_path": {1146      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1147      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1148      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1149      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1150      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1151      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1152    }1153  },1154  {1155    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1156    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1157    "question_type": "planning",1158    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4427,0.5389>?",1159    "answer": "Accelerating and going straight.",1160    "tag": [1161      11162    ],1163    "image_path": {1164      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1165      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1166      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1167      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1168      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1169      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1170    }1171  },1172  {1173    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1174    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1175    "question_type": "planning",1176    "question": "In this scenario, what are safe actions to take for the ego vehicle?",1177    "answer": "Keep going at the same speed, slightly offset to the right.",1178    "tag": [1179      11180    ],1181    "image_path": {1182      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1183      "CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1184      "CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1185      "CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1186      "CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1187      "CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1188    }1189  },1190  {1191    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1192    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1193    "question_type": "behavior",1194    "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.",1195    "answer": "B",1196    "tag": [1197      01198    ],1199    "image_path": {1200      "CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",

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