Telkwevr/Bench2Drive-VL-base
Bench2Drive-VL: Full-Stack Software for Closed-Loop Autonomous Driving with Vision Language Models Project Page | GitHub | Paper Bench2Drive-VL is a comprehensive closed-loop benchmark for Vision-Language Models in Autonomous Driving (VLM4AD). It extends the Bench2Drive benchmark by introducing closed-loop evaluation and the DriveCommenter expert model for automated annotation. This repository contains the natural language annotations for the Bench2Drive-Base1000 dataset. These… See the full description on the dataset page: https://huggingface.co/datasets/Telkwevr/Bench2Drive-VL-base.
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1{2 "key_object_infos": {3 "<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>": {4 "id": "3917",5 "Category": "Traffic element",6 "Status": null,7 "Visual_description": "Yield sign",8 "Detailed_description": "the yield sign",9 "2d_bbox": {10 "CAM_FRONT_LEFT": [11 [12 1257.7,13 377.414 ],15 [16 1316.7,17 428.918 ]19 ],20 "CAM_FRONT": [21 [22 -9.0,23 370.424 ],25 [26 63.6,27 425.928 ]29 ]30 },31 "3d_bbox": {32 "CAM_FRONT_LEFT": [33 [34 18.9,35 7.6,36 0.337 ],38 [39 18.3,40 8.3,41 0.442 ],43 [44 18.3,45 8.3,46 0.447 ],48 [49 18.9,50 7.6,51 0.352 ],53 [54 18.9,55 7.6,56 1.157 ],58 [59 18.3,60 8.2,61 1.262 ],63 [64 18.3,65 8.2,66 1.267 ],68 [69 18.9,70 7.6,71 1.172 ]73 ],74 "CAM_FRONT": [75 [76 16.5,77 -11.6,78 0.379 ],80 [81 16.7,82 -10.8,83 0.484 ],85 [86 16.7,87 -10.8,88 0.489 ],90 [91 16.5,92 -11.6,93 0.394 ],95 [96 16.5,97 -11.7,98 1.199 ],100 [101 16.7,102 -10.8,103 1.2104 ],105 [106 16.7,107 -10.8,108 1.2109 ],110 [111 16.5,112 -11.7,113 1.1114 ]115 ]116 },117 "is_role": false,118 "is_dangerous": false,119 "obj_dict": {120 "class": "traffic_sign",121 "id": "3917",122 "location": [123 -715.2526245117188,124 236.7000732421875,125 171.14138793945312126 ],127 "rotation": [128 0.0,129 0.0,130 103.10179138183594131 ],132 "center": [133 -715.2526245117188,134 236.7000732421875,135 171.14138793945312136 ],137 "extent": [138 0.43940696120262146,139 0.009999999776482582,140 0.38906532526016235141 ],142 "semantic_tags": [143 6,144 8145 ],146 "type_id": "traffic.yield",147 "distance": 20.826478289167927,148 "affects_ego": true,149 "trigger_volume_location": [150 -723.881103515625,151 231.4175262451172,152 169.05654907226562153 ],154 "trigger_volume_rotation": [155 0.0,156 0.0,157 0.0158 ],159 "trigger_volume_extent": [160 1.0568749904632568,161 1.4067187309265137,162 0.9590429663658142163 ],164 "road_id": 1793,165 "lane_id": -1,166 "section_id": 0,167 "world2sign": [168 [169 -0.2266816943883896,170 0.9739689230918884,171 0.0,172 -392.6732177734375173 ],174 [175 -0.9739689230918884,176 -0.2266816943883896,177 -0.0,178 -642.9282836914062179 ],180 [181 0.0,182 -0.0,183 1.0,184 -168.98422241210938185 ],186 [187 0.0,188 0.0,189 0.0,190 1.0191 ]192 ],193 "position": [194 17.40745296562602,195 -11.226942397938387,196 2.3557832447804685197 ],198 "yaw": 0.5591622293210535199 },200 "position": [201 17.40745296562602,202 -11.226942397938387,203 2.3557832447804685204 ],205 "distance": 20.826478289167927,206 "speed": [207 17.40745296562602,208 -11.226942397938387,209 2.3557832447804685210 ],211 "same_dir": false,212 "is_sign": true213 }214 },215 "QA": {216 "perception": [217 {218 "Q": "What are the important objects in the scene?",219 "A": "The important object in the scene is the yield sign.",220 "C": null,221 "qid": 18,222 "con_up": -1,223 "con_down": -1,224 "cluster": 0,225 "layer": 0,226 "object_tags": [227 "<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>"228 ]229 },230 {231 "Q": "What are the important objects in the scene? List them from most to least important.",232 "A": "The yield sign(<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>).",233 "C": null,234 "qid": 19,235 "con_up": -1,236 "con_down": -1,237 "cluster": 0,238 "layer": 0,239 "object_tags": [240 "<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>"241 ]242 },243 {244 "Q": "What are the important vehicles in the scene and where on the road are they located? List them from most to least important.",245 "A": "There's no important vehicle in the current scene.",246 "C": null,247 "qid": 26,248 "con_up": [249 [250 4,251 3252 ]253 ],254 "con_down": [255 [256 4,257 0258 ]259 ],260 "cluster": 4,261 "layer": 1,262 "object_tags": []263 },264 {265 "Q": "There's no important vehicle in the current scene. Where on the road are they located?",266 "A": "There's no important vehicle in the current scene.",267 "C": null,268 "qid": 27,269 "con_up": [270 [271 4,272 3273 ]274 ],275 "con_down": [276 [277 4,278 0279 ]280 ],281 "cluster": 4,282 "layer": 1,283 "object_tags": []284 },285 {286 "Q": "Is the ego vehicle at a junction?",287 "A": "No, the ego vehicle is not at a junction.",288 "C": null,289 "qid": 35,290 "con_up": [291 [292 1,293 0294 ],295 [296 2,297 0298 ],299 [300 3,301 1302 ],303 [304 3,305 2306 ],307 [308 3,309 3310 ],311 [312 4,313 0314 ]315 ],316 "con_down": -1,317 "cluster": 3,318 "layer": 0,319 "object_tags": []320 },321 {322 "Q": "How many lanes are there in the same direction as the ego car?",323 "A": "There is one lane in the same direction.",324 "C": null,325 "qid": 34,326 "con_up": [327 [328 3,329 1330 ],331 [332 3,333 3334 ],335 [336 3,337 4338 ],339 [340 3,341 5342 ],343 [344 3,345 6346 ],347 [348 3,349 7350 ],351 [352 4,353 0354 ]355 ],356 "con_down": [357 [358 3,359 0360 ]361 ],362 "cluster": 3,363 "layer": 2,364 "object_tags": []365 },366 {367 "Q": "How many lanes are there in the opposite direction to the ego car?",368 "A": "There are no lanes in the opposite direction.",369 "C": null,370 "qid": 34,371 "con_up": [372 [373 3,374 1375 ],376 [377 3,378 3379 ],380 [381 3,382 4383 ],384 [385 3,386 5387 ],388 [389 3,390 6391 ],392 [393 3,394 7395 ],396 [397 4,398 0399 ]400 ],401 "con_down": [402 [403 3,404 0405 ]406 ],407 "cluster": 3,408 "layer": 2,409 "object_tags": []410 },411 {412 "Q": "On which lane is the ego vehicle (left most lane of the lanes going in the same direction is indicated with 0)?",413 "A": "The ego vehicle is on lane 0.",414 "C": null,415 "qid": 33,416 "con_up": [417 [418 3,419 1420 ],421 [422 3,423 4424 ],425 [426 3,427 5428 ],429 [430 3,431 6432 ],433 [434 4,435 0436 ]437 ],438 "con_down": [439 [440 3,441 0442 ]443 ],444 "cluster": 3,445 "layer": 3,446 "object_tags": []447 },448 {449 "Q": "What lane marking is on the left side of the ego car?",450 "A": "There is no lane marking on the left side of the ego car.",451 "C": null,452 "qid": 32,453 "con_up": [454 [455 3,456 5457 ],458 [459 3,460 6461 ]462 ],463 "con_down": [464 [465 3,466 2467 ],468 [469 3,470 3471 ]472 ],473 "cluster": 3,474 "layer": 4,475 "object_tags": []476 },477 {478 "Q": "What lane marking is on the right side of the ego car?",479 "A": "There is no lane marking on the right side of the ego car.",480 "C": null,481 "qid": 32,482 "con_up": [483 [484 3,485 5486 ],487 [488 3,489 6490 ]491 ],492 "con_down": [493 [494 3,495 2496 ],497 [498 3,499 3500 ]501 ],502 "cluster": 3,503 "layer": 4,504 "object_tags": []505 },506 {507 "Q": "Describe the current lane's direction.",508 "A": "The current lane is curving to the left.",509 "C": null,510 "qid": 44,511 "con_up": -1,512 "con_down": -1,513 "cluster": 3,514 "layer": 6,515 "object_tags": []516 },517 {518 "Q": "Is the ego vehicle affected by a traffic light?",519 "A": "No, the ego vehicle is not affected by a traffic light.",520 "C": null,521 "qid": 5,522 "con_up": [523 [524 2,525 1526 ]527 ],528 "con_down": [529 [530 3,531 0532 ]533 ],534 "cluster": 2,535 "layer": 0,536 "object_tags": []537 },538 {539 "Q": "How many pedestrians are there?",540 "A": "There are no pedestrians.",541 "C": null,542 "qid": 1,543 "con_up": [544 [545 6,546 0547 ]548 ],549 "con_down": -1,550 "cluster": 5,551 "layer": 0,552 "object_tags": []553 },554 {555 "Q": "What is current time and weather?",556 "A": "It is daytime, near dusk or dawn, foggy.",557 "C": null,558 "qid": 37,559 "con_up": -1,560 "con_down": -1,561 "cluster": 3,562 "layer": 1,563 "object_tags": []564 },565 {566 "Q": "Is there an obstacle on the current road?",567 "A": "No, there is no obstacle on the current route.",568 "C": null,569 "qid": 11,570 "con_up": [571 [572 3,573 8574 ]575 ],576 "con_down": -1,577 "cluster": 3,578 "layer": 9,579 "object_tags": []580 },581 {582 "Q": "What is the current speed limit?",583 "A": "There's no speed limit now.",584 "C": null,585 "qid": 7,586 "con_up": [587 [588 6,589 0590 ]591 ],592 "con_down": [593 [594 3,595 2596 ]597 ],598 "cluster": 3,599 "layer": 7,600 "object_tags": []601 }602 ],603 "prediction": [604 {605 "Q": "There's no important vehicle in the current scene. What are the rough moving speed and moving direction of them?",606 "A": "There's no important vehicle in the current scene.",607 "C": null,608 "qid": 24,609 "con_up": [610 [611 4,612 3613 ]614 ],615 "con_down": [616 [617 4,618 0619 ]620 ],621 "cluster": 4,622 "layer": 1,623 "object_tags": []624 },625 {626 "Q": "There's no important vehicle in the current scene. What are the exact moving speed and moving direction of them?",627 "A": "There's no important vehicle in the current scene.",628 "C": null,629 "qid": 25,630 "con_up": [631 [632 4,633 3634 ]635 ],636 "con_down": [637 [638 4,639 0640 ]641 ],642 "cluster": 4,643 "layer": 1,644 "object_tags": []645 },646 {647 "Q": "The ego vehicle wants to go straight at the intersection. Apart from its lane, which lanes are important to watch out for?",648 "A": "The ego vehicle should pay particular attention to traffic coming from the left side of the intersection and is going straight or turning left, traffic coming from the right and going straight or turning right and to oncoming traffic turning left.",649 "C": null,650 "qid": 36,651 "con_up": [652 [653 4,654 3655 ]656 ],657 "con_down": [658 [659 3,660 0661 ],662 [663 3,664 2665 ],666 [667 3,668 3669 ]670 ],671 "cluster": 3,672 "layer": 1,673 "object_tags": []674 },675 {676 "Q": "In which direction is the ego car allowed to change lanes?",677 "A": "The ego vehicle can not change lanes since it is on a one lane road.",678 "C": null,679 "qid": 31,680 "con_up": [681 [682 6,683 0684 ]685 ],686 "con_down": [687 [688 3,689 2690 ],691 [692 3,693 3694 ],695 [696 3,697 4698 ]699 ],700 "cluster": 3,701 "layer": 5,702 "object_tags": []703 },704 {705 "Q": "From which side are other vehicles allowed to change lanes into the ego lane?",706 "A": "There are no lane changes possible since the ego vehicle is on a one lane road.",707 "C": null,708 "qid": 30,709 "con_up": [710 [711 6,712 0713 ]714 ],715 "con_down": [716 [717 3,718 2719 ],720 [721 3,722 3723 ],724 [725 3,726 4727 ],728 [729 3,730 5731 ]732 ],733 "cluster": 3,734 "layer": 6,735 "object_tags": []736 },737 {738 "Q": "Is the ego vehicle affected by a stop sign?",739 "A": "No, the ego vehicle is not affected by a stop sign.",740 "C": null,741 "qid": 2,742 "con_up": [743 [744 1,745 1746 ]747 ],748 "con_down": [749 [750 3,751 0752 ]753 ],754 "cluster": 1,755 "layer": 0,756 "object_tags": []757 },758 {759 "Q": "Is the ego vehicle affected by a speed limit sign?",760 "A": "No, the ego vehicle is not affected by a speed limit sign.",761 "C": null,762 "qid": 3,763 "con_up": [764 [765 1,766 1767 ]768 ],769 "con_down": [770 [771 3,772 0773 ]774 ],775 "cluster": 1,776 "layer": 0,777 "object_tags": []778 },779 {780 "Q": "List the traffic signs affecting the ego vehicle in the current scenario.",781 "A": "The yield sign(<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>).",782 "C": null,783 "qid": 4,784 "con_up": [785 [786 1,787 1788 ]789 ],790 "con_down": [791 [792 3,793 0794 ]795 ],796 "cluster": 1,797 "layer": 0,798 "object_tags": [799 "<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>"800 ]801 },802 {803 "Q": "What is the state of the traffic light?",804 "A": "There is no traffic light affecting the ego vehicle.",805 "C": null,806 "qid": 6,807 "con_up": [808 [809 2,810 2811 ]812 ],813 "con_down": [814 [815 2,816 0817 ]818 ],819 "cluster": 2,820 "layer": 1,821 "object_tags": []822 },823 {824 "Q": "What is current time and weather? What hazards might it bring?",825 "A": "It is daytime, near dusk or dawn, foggy. The fog causes low visibility, which may affect perception results.",826 "C": null,827 "qid": 38,828 "con_up": -1,829 "con_down": -1,830 "cluster": 3,831 "layer": 1,832 "object_tags": []833 },834 {835 "Q": "Apart from vehicles on the road, visible pedestrians and the weather, what other factors in the current scenario could pose potential hazards?",836 "A": "There's no serious potential hazard apart from them.",837 "C": null,838 "qid": 40,839 "con_up": -1,840 "con_down": -1,841 "cluster": 3,842 "layer": 1,843 "object_tags": []844 }845 ],846 "planning": [847 {848 "Q": "The ego vehicle drives straight at the intersection. There's no important vehicle in the current scene. Among them, please identify those that may overlap with the ego vehicle's path and provide reasons for the overlap.",849 "A": "There's no important vehicle, so none of them potentially crossing the path of ego vehicle now.",850 "C": null,851 "qid": 28,852 "con_up": [853 [854 4,855 3856 ]857 ],858 "con_down": [859 [860 4,861 0862 ]863 ],864 "cluster": 4,865 "layer": 1,866 "object_tags": []867 },868 {869 "Q": "The ego vehicle drives straight at the intersection. There's no important vehicle in the current scene. Among them, please identify those that may overlap with the ego vehicle's path.",870 "A": "There's no important vehicle, so none of them potentially crossing the path of ego vehicle now.",871 "C": null,872 "qid": 29,873 "con_up": [874 [875 4,876 3877 ]878 ],879 "con_down": [880 [881 4,882 0883 ]884 ],885 "cluster": 4,886 "layer": 1,887 "object_tags": []888 },889 {890 "Q": "The ego vehicle drives straight at the intersection. There's no important vehicle in the current scene. Among them, identify those that may overlap with the ego vehicle's path and the actions that could lead to a collision.",891 "A": "There's no important vehicle, so none of them potentially crossing the path of ego vehicle now.",892 "C": null,893 "qid": 46,894 "con_up": [895 [896 4,897 3898 ]899 ],900 "con_down": [901 [902 4,903 0904 ]905 ],906 "cluster": 4,907 "layer": 1,908 "object_tags": []909 },910 {911 "Q": "The ego vehicle drives straight at the intersection. There's no important vehicle in the current scene. Among them, identify those that may overlap with the ego vehicle's path, provide reasons for the overlap and the actions that could lead to a collision.",912 "A": "There's no important vehicle, so none of them potentially crossing the path of ego vehicle now.",913 "C": null,914 "qid": 47,915 "con_up": [916 [917 4,918 3919 ]920 ],921 "con_down": [922 [923 4,924 0925 ]926 ],927 "cluster": 4,928 "layer": 1,929 "object_tags": []930 },931 {932 "Q": "What is current time and weather? What should the ego vehicle do according to them?",933 "A": "It is daytime, near dusk or dawn, foggy. The fog causes low visibility, which may affect perception results, please drive cautiously to handle unexpected situations.",934 "C": null,935 "qid": 39,936 "con_up": -1,937 "con_down": -1,938 "cluster": 3,939 "layer": 1,940 "object_tags": []941 },942 {943 "Q": "Apart from vehicles on the road, visible pedestrians and the weather, what other factors in the current scenario could pose potential hazards? What strategies should the ego vehicle adopt to address them?",944 "A": "There's no serious potential hazard apart from them.",945 "C": null,946 "qid": 41,947 "con_up": -1,948 "con_down": -1,949 "cluster": 3,950 "layer": 1,951 "object_tags": []952 },953 {954 "Q": "Does the ego vehicle need to change lanes or deviate from the lane center due to an upcoming obstruction?",955 "A": "No, the ego vehicle can stay on its current lane.",956 "C": null,957 "qid": 10,958 "con_up": [959 [960 6,961 0962 ]963 ],964 "con_down": [965 [966 3,967 9968 ]969 ],970 "cluster": 3,971 "layer": 8,972 "object_tags": []973 },974 {975 "Q": "Does the ego vehicle need to change lanes or deviate from the lane for reasons other than the upcoming obstruction? Why?",976 "A": "No, no other reason supports the ego vehicle to change lane.",977 "C": null,978 "qid": 12,979 "con_up": [980 [981 6,982 0983 ]984 ],985 "con_down": [986 [987 3,988 9989 ]990 ],991 "cluster": 3,992 "layer": 8,993 "object_tags": []994 },995 {996 "Q": "Must the ego vehicle change lane or deviate from the lane now? why?",997 "A": "No, the ego vehicle can stay on its current lane.",998 "C": null,999 "qid": 13,1000 "con_up": [1001 [1002 6,1003 01004 ]1005 ],1006 "con_down": [1007 [1008 1,1009 01010 ]1011 ],1012 "cluster": 1,1013 "layer": 1,1014 "object_tags": []1015 },1016 {1017 "Q": "What should the ego vehicle do based on the traffic light?",1018 "A": "There is no traffic light affecting the ego vehicle.",1019 "C": null,1020 "qid": 9,1021 "con_up": [1022 [1023 6,1024 01025 ]1026 ],1027 "con_down": [1028 [1029 2,1030 11031 ]1032 ],1033 "cluster": 2,1034 "layer": 2,1035 "object_tags": []1036 },1037 {1038 "Q": "What should the ego vehicle do based on the yield sign?",1039 "A": "The ego vehicle should drive cautiously and yield fast vehicles on main road.",1040 "C": null,1041 "qid": 9,1042 "con_up": [1043 [1044 6,1045 01046 ]1047 ],1048 "con_down": [1049 [1050 1,1051 01052 ]1053 ],1054 "cluster": 1,1055 "layer": 1,1056 "object_tags": [1057 "<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>"1058 ]1059 },1060 {1061 "Q": "Does the ego vehicle need to brake? Why?",1062 "A": "There is no reason for the ego vehicle to brake.",1063 "C": null,1064 "qid": 8,1065 "con_up": -1,1066 "con_down": [1067 [1068 1,1069 11070 ],1071 [1072 2,1073 21074 ],1075 [1076 3,1077 51078 ],1079 [1080 3,1081 61082 ],1083 [1084 3,1085 71086 ],1087 [1088 3,1089 81090 ],1091 [1092 4,1093 31094 ],1095 [1096 5,1097 01098 ]1099 ],1100 "cluster": 6,1101 "layer": 0,1102 "object_tags": []1103 },1104 {1105 "Q": "The list of traffic lights and signs affecting the ego vehicle in current scene is: the yield sign(<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>). Based on these traffic signs, what actions should the ego vehicle take respectively?",1106 "A": "Based on the yield sign(<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>), the ego vehicle should drive cautiously and yield fast vehicles on main road.",1107 "C": null,1108 "qid": 14,1109 "con_up": [1110 [1111 6,1112 01113 ]1114 ],1115 "con_down": [1116 [1117 1,1118 01119 ]1120 ],1121 "cluster": 1,1122 "layer": 1,1123 "object_tags": [1124 "<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>"1125 ]1126 },1127 {1128 "Q": "Identify all traffic lights and signs affecting the ego vehicle in current scene. Based on these traffic signs, what actions should the ego vehicle take respectively?",1129 "A": "The yield sign(<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>). Based on it, the ego vehicle should drive cautiously and yield fast vehicles on main road.",1130 "C": null,1131 "qid": 15,1132 "con_up": [1133 [1134 6,1135 01136 ]1137 ],1138 "con_down": [1139 [1140 1,1141 01142 ]1143 ],1144 "cluster": 1,1145 "layer": 1,1146 "object_tags": [1147 "<c3917<CAM_FRONT_LEFT,1287.2,403.2><CAM_FRONT,27.3,398.2>>"1148 ]1149 }1150 ],1151 "behaviour": [1152 {1153 "Q": "What is the correct action for the ego vehicle to take now?",1154 "A": "The ego vehicle should continue driving along the current lane, then drive straight at the intersection. Additionaly, since the current lane curves to the left, the ego vehicle should steer left based on the curvature shown in the image.",1155 "C": null,1156 "qid": 43,1157 "con_up": -1,1158 "con_down": -1,1159 "cluster": 3,1160 "layer": 1,1161 "object_tags": []1162 },1163 {1164 "Q": "Provide your planned trajectory for the ego vehicle using waypoints in the ego vehicle's coordinate system. Generate one waypoint every 0.5 seconds. Example output:\n{\n \"0.5s\": [x1, y1],\n \"1.0s\": [x2, y2],\n \"1.5s\": [x3, y3],\n \"2.0s\": [x4, y4],\n \"2.5s\": [x5, y5],\n \"3.0s\": [x6, y6],\n \"3.5s\": [x7, y7],\n \"4.0s\": [x8, y8],\n}",1165 "A": "{\"0.5s\": [4.32, -1.35], \"1.0s\": [7.86, -3.92], \"1.5s\": [11.02, -6.51], \"2.0s\": [13.41, -9.59], \"2.5s\": [15.37, -13.62], \"3.0s\": [17.92, -17.83], \"3.5s\": [20.48, -21.24], \"4.0s\": [22.79, -24.61]}",1166 "C": null,1167 "qid": 42,1168 "con_up": -1,1169 "con_down": -1,1170 "cluster": 3,1171 "layer": 1,1172 "object_tags": []1173 },1174 {1175 "Q": "Provide the appropriate behavior for the ego vehicle, which consists of two keys: the Direction key, which can be 'FOLLOW_LANE', 'CHANGE_LANE_LEFT', 'CHANGE_LANE_RIGHT', 'GO_STRAIGHT', 'TURN_LEFT', or 'TURN_RIGHT'; and the Speed key, which can be 'KEEP', 'ACCELERATE', 'DECELERATE', or 'STOP'.",1176 "A": "FOLLOW_LANE, KEEP",1177 "C": null,1178 "qid": 50,1179 "con_up": -1,1180 "con_down": -1,1181 "cluster": 3,1182 "layer": 1,1183 "object_tags": []1184 }1185 ]1186 },1187 "extra_flags": {1188 "ego_speed": 9.244070891927949,1189 "change_lane_flag": false,1190 "change_lane_gt": true,1191 "speed_cmd": "KEEP",1192 "direction_cmd": "FOLLOW_LANE",1193 "speed_change_gt": "Decelerate",1194 "waiting_for_red_light": false,1195 "is_trivial_case": false1196 },1197 "image_paths": {1198 "CAM_FRONT": "./.worker_7_cache/NonSignalizedJunctionLeftTurnEnterFlow_Town15_Route533_Weather13/NonSignalizedJunctionLeftTurnEnterFlow_Town15_Route533_Weather13/camera/rgb_front/00030.jpg",1199 "CAM_FRONT_LEFT": "./.worker_7_cache/NonSignalizedJunctionLeftTurnEnterFlow_Town15_Route533_Weather13/NonSignalizedJunctionLeftTurnEnterFlow_Town15_Route533_Weather13/camera/rgb_front_left/00030.jpg",1200 "CAM_FRONT_RIGHT": "./.worker_7_cache/NonSignalizedJunctionLeftTurnEnterFlow_Town15_Route533_Weather13/NonSignalizedJunctionLeftTurnEnterFlow_Town15_Route533_Weather13/camera/rgb_front_right/00030.jpg",