scene_token
stringclasses 174
values | frame_token
stringclasses 200
values | question_type
stringclasses 4
values | question
stringlengths 64
620
| answer
stringlengths 1
614
| tag
listlengths 1
1
| image_path
dict |
|---|---|---|---|---|---|---|
c133e78e55ae487c821803a3b183d1ab
|
ecd7b29ba9644fc99af37fac3d5fa691
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. C. The ego vehicle is going straight. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the right. The ego vehicle is driving slowly.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg"
}
|
c133e78e55ae487c821803a3b183d1ab
|
5d2eec2186424ee8b74faf32540a12a6
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a black business car to the front left of the ego vehicle, a silver-gray sedan to the back of the ego vehicle, and a yellow sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.8286,0.5852>, <c2,CAM_BACK,0.5401,0.5574>, and <c3,CAM_FRONT,0.6292,0.4913>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg"
}
|
c133e78e55ae487c821803a3b183d1ab
|
5d2eec2186424ee8b74faf32540a12a6
|
perception
|
What is the moving status of object <c2,CAM_BACK,0.5401,0.5574>? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg"
}
|
c133e78e55ae487c821803a3b183d1ab
|
5d2eec2186424ee8b74faf32540a12a6
|
prediction
|
What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?
|
Firstly, notice yellow sign at front camera. The object is a traffic sign and the ego vehicle should continue ahead at the same speed. Secondly, notice black business car at left camera. The object is stationary and the ego vehicle should continue ahead at the same speed. Thirdly, notice silver-gray sedan at back camera. The object is moving ahead and the ego vehicle should continue ahead at the same speed.
|
[
3
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg"
}
|
c133e78e55ae487c821803a3b183d1ab
|
5d2eec2186424ee8b74faf32540a12a6
|
prediction
|
Is <c1,CAM_FRONT_LEFT,0.8286,0.5852> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg"
}
|
c133e78e55ae487c821803a3b183d1ab
|
5d2eec2186424ee8b74faf32540a12a6
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.8286,0.5852>? Why take this action and what's the probability?
|
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.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg"
}
|
c133e78e55ae487c821803a3b183d1ab
|
5d2eec2186424ee8b74faf32540a12a6
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.8286,0.5852>?
|
Moderate left turn.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg"
}
|
c133e78e55ae487c821803a3b183d1ab
|
5d2eec2186424ee8b74faf32540a12a6
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed, decelerate gradually without braking.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg"
}
|
c133e78e55ae487c821803a3b183d1ab
|
5d2eec2186424ee8b74faf32540a12a6
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving very fast. B. The ego vehicle is going straight. The ego vehicle is driving with normal speed. C. The ego vehicle is 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 fast.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg"
}
|
fbf27198b3424e28ab1de2a12eb3dc4a
|
f00c919a5e07495c927062d083fbdd2d
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a person wearing a white shirt to the front of the ego vehicle, a white car to the back left of the ego vehicle, a white car to the front right of the ego vehicle, a person wearing a red shirt to the front of the ego vehicle, and a yellow traffic sign to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6370,0.5898>, <c2,CAM_BACK_LEFT,0.7391,0.5528>, <c3,CAM_FRONT_RIGHT,0.4422,0.5564>, <c4,CAM_FRONT,0.5516,0.5908>, and <c5,CAM_BACK_RIGHT,0.4523,0.5026>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg"
}
|
fbf27198b3424e28ab1de2a12eb3dc4a
|
f00c919a5e07495c927062d083fbdd2d
|
perception
|
What is the moving status of object <c2,CAM_BACK_LEFT,0.7391,0.5528>? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg"
}
|
fbf27198b3424e28ab1de2a12eb3dc4a
|
f00c919a5e07495c927062d083fbdd2d
|
prediction
|
Is <c1,CAM_FRONT,0.6370,0.5898> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg"
}
|
fbf27198b3424e28ab1de2a12eb3dc4a
|
f00c919a5e07495c927062d083fbdd2d
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT,0.6370,0.5898>? Why take this action and what's the probability?
|
The action is to turn right. The reason is that the object has little reference value for the ego vehicle, which is high in probability.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg"
}
|
fbf27198b3424e28ab1de2a12eb3dc4a
|
f00c919a5e07495c927062d083fbdd2d
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.6370,0.5898>?
|
Accelerating and going straight.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg"
}
|
fbf27198b3424e28ab1de2a12eb3dc4a
|
f00c919a5e07495c927062d083fbdd2d
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Turn right, decelerate gradually without braking, are safe actions to take for the ego vehicle in this scenario.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg"
}
|
fbf27198b3424e28ab1de2a12eb3dc4a
|
f00c919a5e07495c927062d083fbdd2d
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving slowly. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. C. The ego vehicle is steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg"
}
|
53d4c9a634df4fdfadf057d3a216e98f
|
f4daf8fc833849bd8f1bf0b729621cd2
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a pedestrian wearing black pants to the back right of the ego vehicle, a silver SUV to the back of the ego vehicle, a black sedan to the front left of the ego vehicle, a pedestrian wearing a white shirt to the front of the ego vehicle, a black car to the front of the ego vehicle, and a pedestrian with an orange shirt to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.1755,0.6472>, <c2,CAM_BACK,0.5036,0.6186>, <c3,CAM_FRONT_LEFT,0.4573,0.6908>, <c4,CAM_FRONT,0.8854,0.5953>, <c5,CAM_FRONT,0.4683,0.5602>, and <c6,CAM_FRONT_RIGHT,0.2005,0.6417>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg"
}
|
53d4c9a634df4fdfadf057d3a216e98f
|
f4daf8fc833849bd8f1bf0b729621cd2
|
perception
|
What is the moving status of object <c1,CAM_BACK_RIGHT,0.1755,0.6472>? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg"
}
|
53d4c9a634df4fdfadf057d3a216e98f
|
f4daf8fc833849bd8f1bf0b729621cd2
|
prediction
|
Is <c1,CAM_BACK_RIGHT,0.1755,0.6472> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg"
}
|
53d4c9a634df4fdfadf057d3a216e98f
|
f4daf8fc833849bd8f1bf0b729621cd2
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,0.1755,0.6472>? Why take this action and what's the probability?
|
The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg"
}
|
53d4c9a634df4fdfadf057d3a216e98f
|
f4daf8fc833849bd8f1bf0b729621cd2
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,0.1755,0.6472>?
|
No such action will lead to a collision.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg"
}
|
53d4c9a634df4fdfadf057d3a216e98f
|
f4daf8fc833849bd8f1bf0b729621cd2
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed, and decelerate gradually without braking.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg"
}
|
53d4c9a634df4fdfadf057d3a216e98f
|
f4daf8fc833849bd8f1bf0b729621cd2
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is steering to the right. The ego vehicle is driving fast.
|
C
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg"
}
|
d4c5db6faa9f443795ad86561e9e556e
|
6e06cb03afab4d1eb30b3e0d8eb4d19e
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a dark green truck to the back of the ego vehicle, a pedestrian to the back left of the ego vehicle, a white truck to the front of the ego vehicle, and a sanitation worker to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.7177,0.5806>, <c2,CAM_BACK_LEFT,0.5031,0.5694>, <c3,CAM_FRONT,0.7052,0.4917>, and <c4,CAM_FRONT,0.2620,0.5426>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg"
}
|
d4c5db6faa9f443795ad86561e9e556e
|
6e06cb03afab4d1eb30b3e0d8eb4d19e
|
perception
|
What is the moving status of object <c2,CAM_BACK_LEFT,0.5031,0.5694>? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg"
}
|
d4c5db6faa9f443795ad86561e9e556e
|
6e06cb03afab4d1eb30b3e0d8eb4d19e
|
prediction
|
Is <c1,CAM_BACK,0.7177,0.5806> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg"
}
|
d4c5db6faa9f443795ad86561e9e556e
|
6e06cb03afab4d1eb30b3e0d8eb4d19e
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_BACK,0.7177,0.5806>? Why take this action and what's the probability?
|
The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg"
}
|
d4c5db6faa9f443795ad86561e9e556e
|
6e06cb03afab4d1eb30b3e0d8eb4d19e
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.7177,0.5806>?
|
Back up.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg"
}
|
d4c5db6faa9f443795ad86561e9e556e
|
6e06cb03afab4d1eb30b3e0d8eb4d19e
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed, decelerate gradually without braking.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg"
}
|
d4c5db6faa9f443795ad86561e9e556e
|
6e06cb03afab4d1eb30b3e0d8eb4d19e
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is going straight. The ego vehicle is not moving. D. The ego vehicle is steering to the right. The ego vehicle is driving slowly.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg"
}
|
6d4b2bd795ae4c66900ad98ccd2371a6
|
f589ce80644d46c0ab3c6e764321d5ef
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a blue and white car to the front of the ego vehicle, a blue truck to the back of the ego vehicle, a white commercial vehicle to the front right of the ego vehicle, a pedestrian holding a black umbrella to the front left of the ego vehicle, a traffic light with green light on to the front of the ego vehicle, and a traffic light with green light on to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5792,0.6213>, <c2,CAM_BACK,0.4125,0.5231>, <c3,CAM_FRONT_RIGHT,0.4349,0.7661>, <c4,CAM_FRONT_LEFT,0.6239,0.5991>, <c5,CAM_FRONT,0.6933,0.4310>, and <c6,CAM_FRONT,0.4500,0.4412>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg"
}
|
6d4b2bd795ae4c66900ad98ccd2371a6
|
f589ce80644d46c0ab3c6e764321d5ef
|
perception
|
What is the moving status of object <c1,CAM_FRONT,0.5792,0.6213>? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg"
}
|
6d4b2bd795ae4c66900ad98ccd2371a6
|
f589ce80644d46c0ab3c6e764321d5ef
|
prediction
|
Is <c1,CAM_FRONT,0.5792,0.6213> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg"
}
|
6d4b2bd795ae4c66900ad98ccd2371a6
|
f589ce80644d46c0ab3c6e764321d5ef
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5792,0.6213>? Why take this action and what's the probability?
|
The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg"
}
|
6d4b2bd795ae4c66900ad98ccd2371a6
|
f589ce80644d46c0ab3c6e764321d5ef
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5792,0.6213>?
|
Accelerating and going straight.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg"
}
|
6d4b2bd795ae4c66900ad98ccd2371a6
|
f589ce80644d46c0ab3c6e764321d5ef
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed, slightly offset to the right.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg"
}
|
6d4b2bd795ae4c66900ad98ccd2371a6
|
f589ce80644d46c0ab3c6e764321d5ef
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg"
}
|
8b60e7e47cde43e0a7fbd66d926de14f
|
04b08aa7a863458aa2eeccc86d5e3569
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a white SUV to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a white sedan to the front of the ego vehicle, a white 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,0.5031,0.5310>, <c2,CAM_BACK,0.6828,0.6648>, <c3,CAM_FRONT,0.2297,0.5658>, <c4,CAM_FRONT,0.5552,0.5491>, and <c5,CAM_FRONT,0.6502,0.4530>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg"
}
|
8b60e7e47cde43e0a7fbd66d926de14f
|
04b08aa7a863458aa2eeccc86d5e3569
|
perception
|
What is the moving status of object <c1,CAM_FRONT,0.5031,0.5310>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg"
}
|
8b60e7e47cde43e0a7fbd66d926de14f
|
04b08aa7a863458aa2eeccc86d5e3569
|
prediction
|
Is <c1,CAM_FRONT,0.5031,0.5310> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg"
}
|
8b60e7e47cde43e0a7fbd66d926de14f
|
04b08aa7a863458aa2eeccc86d5e3569
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5031,0.5310>? Why take this action and what's the probability?
|
The action is to keep going at the same speed. The reason is that there is no safety issue, which is highly probable.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg"
}
|
8b60e7e47cde43e0a7fbd66d926de14f
|
04b08aa7a863458aa2eeccc86d5e3569
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5031,0.5310>?
|
No such action will lead to a collision.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg"
}
|
8b60e7e47cde43e0a7fbd66d926de14f
|
04b08aa7a863458aa2eeccc86d5e3569
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed, slightly offset to the left, and slightly offset to the right.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg"
}
|
8b60e7e47cde43e0a7fbd66d926de14f
|
04b08aa7a863458aa2eeccc86d5e3569
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. C. The ego vehicle is going straight. The ego vehicle is driving slowly. D. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg"
}
|
3bc4553925494890a21ef7a15c40eaed
|
48251ce758f444dcab723167fa8db055
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a black car to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a person on the roadside to the back left of the ego vehicle, a white sedan to the front of the ego vehicle, a walking person to the back right of the ego vehicle, and a white sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2116,0.6054>, <c2,CAM_FRONT,0.9323,0.5519>, <c3,CAM_BACK_LEFT,0.1739,0.5547>, <c4,CAM_FRONT,0.6167,0.5417>, <c5,CAM_BACK_RIGHT,0.5114,0.6898>, and <c6,CAM_BACK,0.4599,0.5630>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg"
}
|
3bc4553925494890a21ef7a15c40eaed
|
48251ce758f444dcab723167fa8db055
|
perception
|
What is the moving status of object <c1,CAM_FRONT,0.2116,0.6054>? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg"
}
|
3bc4553925494890a21ef7a15c40eaed
|
48251ce758f444dcab723167fa8db055
|
prediction
|
Is <c1,CAM_FRONT,0.2116,0.6054> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg"
}
|
3bc4553925494890a21ef7a15c40eaed
|
48251ce758f444dcab723167fa8db055
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2116,0.6054>? Why take this action and what's the probability?
|
The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg"
}
|
3bc4553925494890a21ef7a15c40eaed
|
48251ce758f444dcab723167fa8db055
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2116,0.6054>?
|
Moderate left turn.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg"
}
|
3bc4553925494890a21ef7a15c40eaed
|
48251ce758f444dcab723167fa8db055
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed; decelerate gradually without braking.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg"
}
|
3bc4553925494890a21ef7a15c40eaed
|
48251ce758f444dcab723167fa8db055
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. D. The ego vehicle is going straight. The ego vehicle is driving with normal speed.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg"
}
|
928ee3a8c5a84497a6360fe70a4e921e
|
789846622fac4176b66719351d445f35
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a person on the side of the road to the front of the ego vehicle, a people walking on the roadside to the front of the ego vehicle, and an orange car to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.0469,0.6453>, <c2,CAM_FRONT,0.4771,0.5639>, and <c3,CAM_BACK_RIGHT,0.6886,0.6703>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg"
}
|
928ee3a8c5a84497a6360fe70a4e921e
|
789846622fac4176b66719351d445f35
|
perception
|
What is the moving status of object <c1,CAM_FRONT,0.0469,0.6453>? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg"
}
|
928ee3a8c5a84497a6360fe70a4e921e
|
789846622fac4176b66719351d445f35
|
prediction
|
What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?
|
Firstly, notice person on the side of the road at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice people walking on the roadside at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice orange car at right rear camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed.
|
[
3
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg"
}
|
928ee3a8c5a84497a6360fe70a4e921e
|
789846622fac4176b66719351d445f35
|
prediction
|
Is <c1,CAM_FRONT,0.0469,0.6453> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg"
}
|
928ee3a8c5a84497a6360fe70a4e921e
|
789846622fac4176b66719351d445f35
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT,0.0469,0.6453>? Why take this action and what's the probability?
|
The action is to decelerate gradually without braking. The reason is to avoid a collision. The probability is high.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg"
}
|
928ee3a8c5a84497a6360fe70a4e921e
|
789846622fac4176b66719351d445f35
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.0469,0.6453>?
|
Slight left turn.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg"
}
|
928ee3a8c5a84497a6360fe70a4e921e
|
789846622fac4176b66719351d445f35
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Decelerate gradually without braking.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg"
}
|
928ee3a8c5a84497a6360fe70a4e921e
|
789846622fac4176b66719351d445f35
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. C. The ego vehicle is going straight. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast.
|
D
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg"
}
|
df8dfada99a04a81bd1b102eeb84e9bc
|
e3f986e5d53f416492bdf255e82bff52
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a black car to the front of the ego vehicle, a person riding a bicycle to the front of the ego vehicle, a person wearing a pink shirt and black pants to the front of the ego vehicle, a white SUV to the front right of the ego vehicle, a black sedan to the back right of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6604,0.6314>, <c2,CAM_FRONT,0.2052,0.6092>, <c3,CAM_FRONT,0.0203,0.5991>, <c4,CAM_FRONT_RIGHT,0.4313,0.6758>, <c5,CAM_BACK_RIGHT,0.2409,0.7426>, and <c6,CAM_BACK,0.1351,0.6314>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg"
}
|
df8dfada99a04a81bd1b102eeb84e9bc
|
e3f986e5d53f416492bdf255e82bff52
|
perception
|
What is the moving status of object <c1,CAM_FRONT,0.6604,0.6314>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg"
}
|
df8dfada99a04a81bd1b102eeb84e9bc
|
e3f986e5d53f416492bdf255e82bff52
|
prediction
|
Is <c1,CAM_FRONT,0.6604,0.6314> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg"
}
|
df8dfada99a04a81bd1b102eeb84e9bc
|
e3f986e5d53f416492bdf255e82bff52
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT,0.6604,0.6314>? Why take this action and what's the probability?
|
The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg"
}
|
df8dfada99a04a81bd1b102eeb84e9bc
|
e3f986e5d53f416492bdf255e82bff52
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.6604,0.6314>?
|
Sharp left turn.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg"
}
|
df8dfada99a04a81bd1b102eeb84e9bc
|
e3f986e5d53f416492bdf255e82bff52
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed, slightly offset to the right.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg"
}
|
df8dfada99a04a81bd1b102eeb84e9bc
|
e3f986e5d53f416492bdf255e82bff52
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the right. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is going straight. The ego vehicle is driving very fast.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg"
}
|
f7d01e23508040c2aec430e8da13fb76
|
18a739fec6c3491ca23efc10d02cf9de
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a white sedan car to the front of the ego vehicle, a pedestrian to the front of the ego vehicle, a gray commercial van to the back of the ego vehicle, a blue SUV to the back left of the ego vehicle, and a bicycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.7067,0.5611>, <c2,CAM_FRONT,0.9521,0.5703>, <c3,CAM_BACK,0.5417,0.5509>, <c4,CAM_BACK_LEFT,0.8264,0.6769>, and <c5,CAM_FRONT,0.8067,0.6009>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg"
}
|
f7d01e23508040c2aec430e8da13fb76
|
18a739fec6c3491ca23efc10d02cf9de
|
perception
|
What is the moving status of object <c2,CAM_FRONT,0.9521,0.5703>? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg"
}
|
f7d01e23508040c2aec430e8da13fb76
|
18a739fec6c3491ca23efc10d02cf9de
|
prediction
|
Is <c1,CAM_FRONT,0.7067,0.5611> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg"
}
|
f7d01e23508040c2aec430e8da13fb76
|
18a739fec6c3491ca23efc10d02cf9de
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT,0.7067,0.5611>? Why take this action and what's the probability?
|
The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision, which has a high probability.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg"
}
|
f7d01e23508040c2aec430e8da13fb76
|
18a739fec6c3491ca23efc10d02cf9de
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.7067,0.5611>?
|
Moderate right turn.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg"
}
|
f7d01e23508040c2aec430e8da13fb76
|
18a739fec6c3491ca23efc10d02cf9de
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed, decelerate gradually without braking.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg"
}
|
f7d01e23508040c2aec430e8da13fb76
|
18a739fec6c3491ca23efc10d02cf9de
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. D. The ego vehicle is going straight. The ego vehicle is driving fast.
|
C
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg"
}
|
75a4ec12042542149b0a77a0a10d6330
|
7193cc6bcc5b4196abebcb32500ffe62
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is an orange and white truck to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, and a blue sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.1626,0.5338>, <c2,CAM_FRONT,0.6261,0.4814>, <c3,CAM_BACK,0.1552,0.5213>, and <c4,CAM_FRONT,0.1198,0.5676>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg"
}
|
75a4ec12042542149b0a77a0a10d6330
|
7193cc6bcc5b4196abebcb32500ffe62
|
perception
|
What is the moving status of object <c3,CAM_BACK,0.1552,0.5213>? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.
|
C
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg"
}
|
75a4ec12042542149b0a77a0a10d6330
|
7193cc6bcc5b4196abebcb32500ffe62
|
prediction
|
Is <c1,CAM_FRONT_RIGHT,0.1626,0.5338> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg"
}
|
75a4ec12042542149b0a77a0a10d6330
|
7193cc6bcc5b4196abebcb32500ffe62
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.1626,0.5338>? Why take this action and what's the probability?
|
The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg"
}
|
75a4ec12042542149b0a77a0a10d6330
|
7193cc6bcc5b4196abebcb32500ffe62
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.1626,0.5338>?
|
Moderate right turn.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg"
}
|
75a4ec12042542149b0a77a0a10d6330
|
7193cc6bcc5b4196abebcb32500ffe62
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg"
}
|
75a4ec12042542149b0a77a0a10d6330
|
7193cc6bcc5b4196abebcb32500ffe62
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. 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 left. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the left. The ego vehicle is driving fast.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg"
}
|
4b5bf3f4668d44fea9a676e9c4a8a79e
|
bfcb6df9474f4ad98fcf64ff2d1e170c
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a white truck to the back of the ego vehicle, a yellow traffic markings to the back of the ego vehicle, and a white road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4547,0.5592>, <c2,CAM_BACK,0.4396,0.6398>, and <c3,CAM_FRONT,0.7559,0.6411>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg"
}
|
4b5bf3f4668d44fea9a676e9c4a8a79e
|
bfcb6df9474f4ad98fcf64ff2d1e170c
|
perception
|
What is the moving status of object <c1,CAM_BACK,0.4547,0.5592>? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg"
}
|
4b5bf3f4668d44fea9a676e9c4a8a79e
|
bfcb6df9474f4ad98fcf64ff2d1e170c
|
prediction
|
What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?
|
Firstly, notice white road sign at front camera. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice yellow traffic markings at back camera. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice white truck at back camera. The object is going ahead, so the ego vehicle should continue ahead at the same speed.
|
[
3
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg"
}
|
4b5bf3f4668d44fea9a676e9c4a8a79e
|
bfcb6df9474f4ad98fcf64ff2d1e170c
|
prediction
|
Is <c1,CAM_BACK,0.4547,0.5592> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg"
}
|
4b5bf3f4668d44fea9a676e9c4a8a79e
|
bfcb6df9474f4ad98fcf64ff2d1e170c
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_BACK,0.4547,0.5592>? Why take this action and what's the probability?
|
The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg"
}
|
4b5bf3f4668d44fea9a676e9c4a8a79e
|
bfcb6df9474f4ad98fcf64ff2d1e170c
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4547,0.5592>?
|
Brake suddenly.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg"
}
|
4b5bf3f4668d44fea9a676e9c4a8a79e
|
bfcb6df9474f4ad98fcf64ff2d1e170c
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed, decelerate gradually without braking.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg"
}
|
4b5bf3f4668d44fea9a676e9c4a8a79e
|
bfcb6df9474f4ad98fcf64ff2d1e170c
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is going straight. The ego vehicle is driving fast. C. The ego vehicle is steering to the left. The ego vehicle is driving slowly. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed.
|
A
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
0dd2b3a691554932abed501d3b33310e
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a white commercial vehicle to the front right of the ego vehicle, a white truck to the front of the ego vehicle, and a yellow bike to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.3812,0.5722>, <c2,CAM_FRONT,0.3234,0.4981>, and <c3,CAM_BACK,0.6567,0.6028>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
0dd2b3a691554932abed501d3b33310e
|
perception
|
What is the moving status of object <c2,CAM_FRONT,0.3234,0.4981>? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
0dd2b3a691554932abed501d3b33310e
|
prediction
|
What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?
|
Firstly, notice that white commercial vehicle at right camera. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that white truck at front camera. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that yellow bike at back camera. The object is stationary, so the ego vehicle should continue going ahead at the same speed.
|
[
3
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
0dd2b3a691554932abed501d3b33310e
|
prediction
|
Is <c1,CAM_FRONT_RIGHT,0.3812,0.5722> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
0dd2b3a691554932abed501d3b33310e
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.3812,0.5722>? Why take this action and what's the probability?
|
The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
0dd2b3a691554932abed501d3b33310e
|
planning
|
What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.3812,0.5722>?
|
Moderate right turn.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
0dd2b3a691554932abed501d3b33310e
|
planning
|
In this scenario, what are safe actions to take for the ego vehicle?
|
Keep going at the same speed, decelerate gradually without braking, brake gently to a stop, or back up.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
0dd2b3a691554932abed501d3b33310e
|
behavior
|
Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is steering to the right. The ego vehicle is driving very fast. D. The ego vehicle is going straight. The ego vehicle is driving slowly.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
ab256e0594844adfaf7ea6b5aeef9ba5
|
perception
|
What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.
|
There is a white commercial vehicle to the front of the ego vehicle, a dark gray van to the back of the ego vehicle, a pedestrian wearing a light purple shirt to the front left of the ego vehicle, and a dark blue SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4646,0.6814>, <c2,CAM_BACK,0.4370,0.5611>, <c3,CAM_FRONT_LEFT,0.5380,0.6759>, and <c4,CAM_FRONT_LEFT,0.6276,0.5602>.
|
[
2
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
ab256e0594844adfaf7ea6b5aeef9ba5
|
perception
|
What is the moving status of object <c1,CAM_FRONT,0.4646,0.6814>? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.
|
B
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
ab256e0594844adfaf7ea6b5aeef9ba5
|
prediction
|
Is <c1,CAM_FRONT,0.4646,0.6814> a traffic sign or a road barrier?
|
No.
|
[
0
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg"
}
|
00590cbfa24a430a8c274b51e1c71231
|
ab256e0594844adfaf7ea6b5aeef9ba5
|
planning
|
What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4646,0.6814>? Why take this action and what's the probability?
|
The action is to remain stationary. The reason for this action is to maintain a safe distance, which is highly probable.
|
[
1
] |
{
"CAM_BACK": "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
"CAM_BACK_LEFT": "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
"CAM_BACK_RIGHT": "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg",
"CAM_FRONT": "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
"CAM_FRONT_LEFT": "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
"CAM_FRONT_RIGHT": "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg"
}
|
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