{ "schema": 1, "clips": { "positive_scenarios/prompt_0.mp4": { "taxonomy_id": 13, "k": 0, "polarity": "positive", "label": 0, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "Stop sign", "ood_context": "Red octagonal Burger King logo on a pole atop a hill", "prompt_sentence": "The ego vehicle recognizes the logo as an advertisement and continues driving at its normal cruising speed past the hill without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.144, "tail_flow": 0.114, "peak_flow": 0.236, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 54.39, "end_v": 51.28, "v_final": 38.18, "max_abs_heading": 15.62 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_1.mp4": { "taxonomy_id": 14, "k": 1, 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"installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_13.mp4": { "taxonomy_id": 31, "k": 13, "polarity": "positive", "label": 0, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Person in a full-body dinosaur/mascot costume near a crosswalk", "prompt_sentence": "The ego vehicle treats the costumed figure as a pedestrian, brakes smoothly and comes to a complete stop before the crosswalk to yield, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.066, "tail_flow": 0.02, "peak_flow": 0.105, "prompt_video": null }, "id": { "agree": true, 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1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_16.mp4": { "taxonomy_id": 34, "k": 16, "polarity": "positive", "label": 0, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Store mannequins displayed at the curb", "prompt_sentence": "The ego vehicle recognizes the inanimate mannequins and continues driving at its normal cruising speed past the store without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.303, "tail_flow": 0.27, "peak_flow": 0.608, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 7.06, "end_v": 7.7, "v_final": 6.74, "max_abs_heading": 31.24 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_17.mp4": { "taxonomy_id": 35, "k": 17, "polarity": "positive", "label": 0, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Worker in retroreflective high-vis clothing causing camera bloom at night", "prompt_sentence": "The ego vehicle detects the worker behind the glare, slows down markedly as it passes the cones, and keeps rolling at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.079, "tail_flow": 0.121, "peak_flow": 0.177, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 20.68, "end_v": 11.68, "v_final": 8.73, "max_abs_heading": 3.97 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_18.mp4": { "taxonomy_id": 36, "k": 18, "polarity": "positive", "label": 0, "category": "Category 2 — Pedestrian & Humanoid 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silhouette as a person carrying an object, slows down markedly to give them room, and keeps rolling at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.017, "tail_flow": 0.055, "peak_flow": 0.09, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=8.07" ], "start_v": 0.24, "end_v": 1.96, "v_final": 2.54, "max_abs_heading": 3.69 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_21.mp4": { "taxonomy_id": 40, "k": 21, "polarity": "positive", "label": 0, "category": "Category 3 — Animal Anomalies", "object": "Dog", "ood_context": "Small off-leash dog darting from behind a parked object into the road", "prompt_sentence": "The ego vehicle detects the dog, brakes hard and comes to a complete stop before reaching it, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.022, "tail_flow": 0.07, "peak_flow": 0.165, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 19.75, "end_v": 1.93, "v_final": 1.47, "max_abs_heading": 13.26 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_22.mp4": { "taxonomy_id": 41, "k": 22, "polarity": "positive", "label": 0, "category": "Category 3 — Animal Anomalies", "object": "Large animal", "ood_context": "Kangaroo hopping — airborne, then landing", "prompt_sentence": "The ego vehicle judges the kangaroo's distance correctly, brakes firmly and comes to a complete stop before it, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.022, "tail_flow": 0.022, "peak_flow": 0.044, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 1.33, "end_v": 0.93, "v_final": 1.2, "max_abs_heading": 1.86 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_23.mp4": { "taxonomy_id": 42, "k": 23, "polarity": "positive", "label": 0, "category": "Category 3 — Animal Anomalies", "object": "Bird flock", "ood_context": "Flock of pigeons/geese settled on the roadway", "prompt_sentence": "The ego vehicle slows down gently as it approaches so the birds can scatter, and keeps rolling at the reduced speed as they fly off.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.116, "tail_flow": 0.057, "peak_flow": 3.229, "prompt_video": false }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=1.11" ], "start_v": 9.43, "end_v": 10.42, "v_final": 10.68, "max_abs_heading": 4.28 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": false, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_24.mp4": { "taxonomy_id": 43, "k": 24, "polarity": "positive", "label": 0, "category": "Category 3 — Animal Anomalies", "object": "Animal", "ood_context": "Plywood deer decoy or deer-crossing sign silhouette", "prompt_sentence": "The ego vehicle recognizes the decoy and sign and continues driving at its normal cruising speed past them without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.813, "tail_flow": 0.805, "peak_flow": 1.418, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 27.98, "end_v": 27.49, "v_final": 20.49, "max_abs_heading": 12.85 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_25.mp4": { "taxonomy_id": 44, "k": 25, "polarity": "positive", "label": 0, "category": "Category 3 — Animal Anomalies", "object": "Cat", "ood_context": "Small cat sitting low near a parked car at night", "prompt_sentence": "The ego vehicle detects the low still animal, slows down and steers gently to the left to pass well clear of the cat.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "unmeasurable", "head_flow": 0.036, "tail_flow": 0.168, "peak_flow": 0.195, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=4.88" ], "start_v": 1.2, "end_v": 5.86, "v_final": 6.47, "max_abs_heading": 13.95 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_26.mp4": { "taxonomy_id": 46, "k": 26, "polarity": "positive", "label": 0, "category": "Category 3 — Animal Anomalies", "object": "Leashed dog", "ood_context": "Large dog on a leash with a jogger crossing together", "prompt_sentence": "The ego vehicle treats the jogger and dog as one linked group, brakes smoothly and comes to a complete stop until both have crossed, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.268, "tail_flow": 0.015, "peak_flow": 0.53, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 12.6, "end_v": 0.09, "v_final": 0.21, "max_abs_heading": 5.68 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 9012, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_27.mp4": { "taxonomy_id": 47, "k": 27, "polarity": "positive", "label": 0, "category": "Category 3 — Animal Anomalies", "object": "Livestock", "ood_context": "Cattle/sheep herd occupying the whole road", "prompt_sentence": "The ego vehicle brakes smoothly and comes to a complete stop well before the herd to wait for it to pass, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.999, "tail_flow": 0.251, "peak_flow": 1.169, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 10.68, "end_v": 0.7, "v_final": 0.93, "max_abs_heading": 5.07 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_28.mp4": { "taxonomy_id": 49, "k": 28, "polarity": "positive", "label": 0, "category": "Category 3 — Animal Anomalies", "object": "Sensor occluder", "ood_context": "Bird dropping/leaf/bug splatter blocking a camera", "prompt_sentence": "The ego vehicle recognizes the degraded view, slows down markedly, and keeps rolling at the reduced speed while the lens stays obscured.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.095, "tail_flow": 0.086, "peak_flow": 0.171, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.94" ], "start_v": 66.87, "end_v": 62.84, "v_final": 46.22, "max_abs_heading": 3.29 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_29.mp4": { "taxonomy_id": 50, "k": 29, "polarity": "positive", "label": 0, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Pyrotechnics/smoke", "ood_context": "Lit fireworks and colored smoke in the road on July 4", "prompt_sentence": "The ego vehicle recognizes the lit fireworks as a hazard, brakes and comes to a complete stop well before the smoke and sparks, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.034, "tail_flow": 0.031, "peak_flow": 0.074, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.56, "end_v": 0.53, "v_final": 0.86, "max_abs_heading": 8.14 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_30.mp4": { "taxonomy_id": 51, "k": 30, "polarity": "positive", "label": 0, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Overpass shadow", "ood_context": "Hard dark shadow cast across the lane by an overpass", "prompt_sentence": "The ego vehicle recognizes the shadow as a shadow and continues driving at its normal cruising speed through it without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.601, "tail_flow": 0.227, "peak_flow": 7.451, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 71.85, "end_v": 67.51, "v_final": 59.84, "max_abs_heading": 9.75 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_31.mp4": { "taxonomy_id": 52, "k": 31, "polarity": "positive", "label": 0, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Low sun", "ood_context": "Low sun at sunrise/sunset blinding forward cameras", "prompt_sentence": "The ego vehicle recognizes its degraded forward vision, slows down markedly, and keeps rolling at the reduced speed through the glare.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.018, "tail_flow": 0.017, "peak_flow": 0.05, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.92" ], "start_v": 50.7, "end_v": 46.66, "v_final": 34.88, "max_abs_heading": 5.7 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_32.mp4": { "taxonomy_id": 53, "k": 32, "polarity": "positive", "label": 0, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Fog", "ood_context": "Dense fog hiding a stopped obstacle/child ahead", "prompt_sentence": "The ego vehicle picks out the figure in the fog, brakes firmly and comes to a complete stop well before it, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.021, "tail_flow": 0.012, "peak_flow": 0.041, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 24.96, "end_v": 0.36, "v_final": 0.47, "max_abs_heading": 8.59 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_33.mp4": { "taxonomy_id": 54, "k": 33, "polarity": "positive", "label": 0, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Rain spray", "ood_context": "Downpour with heavy spray and lane reflections", "prompt_sentence": "The ego vehicle recognizes the poor conditions, slows down markedly to widen its following distance, and keeps rolling at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.147, "tail_flow": 0.26, "peak_flow": 0.4, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.95" ], "start_v": 53.75, "end_v": 50.86, "v_final": 40.74, "max_abs_heading": 7.38 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_34.mp4": { "taxonomy_id": 55, "k": 34, "polarity": "positive", "label": 0, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Steam/exhaust", "ood_context": "Steam from a manhole or cold-weather exhaust plume", "prompt_sentence": "The ego vehicle recognizes the plume as vapor and continues driving at its normal cruising speed straight through the steam without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.098, "tail_flow": 0.089, "peak_flow": 0.177, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 13.0, "end_v": 18.79, "v_final": 13.56, "max_abs_heading": 8.98 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": true, "installed": true }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 9012, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_35.mp4": { "taxonomy_id": 57, "k": 35, "polarity": "positive", "label": 0, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Dust/whiteout", "ood_context": "Blowing dust reducing visibility to near zero", "prompt_sentence": "The ego vehicle slows down sharply as the dust closes in and keeps creeping along at a crawl toward the shoulder.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.12, "tail_flow": 0.032, "peak_flow": 0.244, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.76" ], "start_v": 50.11, "end_v": 38.25, "v_final": 25.55, "max_abs_heading": 27.43 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_36.mp4": { "taxonomy_id": 59, "k": 36, "polarity": "positive", "label": 0, "category": "Category 4 — Weather, Smoke & Lighting", "object": "LED glare", "ood_context": "Oncoming truck's high-mounted flashing LED light bar", "prompt_sentence": "The ego vehicle ignores the glare, holds its lane, and continues driving at its normal cruising speed past the truck without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.03, "tail_flow": 0.025, "peak_flow": 0.419, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 48.31, "end_v": 45.54, "v_final": 37.16, "max_abs_heading": 8.74 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_37.mp4": { "taxonomy_id": 60, "k": 37, "polarity": "positive", "label": 0, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Falling particulates", "ood_context": "Swirl of leaves, ash, or light hail toward the windshield", "prompt_sentence": "The ego vehicle recognizes the leaves as harmless and continues driving at its normal cruising speed through the swirl without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 1.488, "tail_flow": 0.715, "peak_flow": 2.379, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 21.89, "end_v": 22.28, "v_final": 16.36, "max_abs_heading": 5.2 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_38.mp4": { "taxonomy_id": 61, "k": 38, "polarity": "positive", "label": 0, "category": "Category 5 — Road Surface & Markings", "object": "Surface marks", "ood_context": "Black tar-sealant “snakes” / long skid marks along the lane", "prompt_sentence": "The ego vehicle ignores the tar marks, holds the true lane, and continues driving at its normal cruising speed without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.573, "tail_flow": 1.697, "peak_flow": 3.372, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 37.01, "end_v": 33.95, "v_final": 26.35, "max_abs_heading": 13.5 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_39.mp4": { "taxonomy_id": 62, "k": 39, "polarity": "positive", "label": 0, "category": "Category 5 — Road Surface & Markings", "object": "Wet concrete", "ood_context": "Freshly poured wet concrete in a rebuilt lane", "prompt_sentence": "The ego vehicle recognizes the closed surface, brakes and comes to a complete stop before the wet concrete, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 1.08, "tail_flow": 0.012, "peak_flow": 1.227, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 12.44, "end_v": 0.08, "v_final": 0.12, "max_abs_heading": 6.89 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_40.mp4": { "taxonomy_id": 63, "k": 40, "polarity": "positive", "label": 0, "category": "Category 5 — Road Surface & Markings", "object": "Flooded road", "ood_context": "Deep standing water flooding a 40-mph roadway", "prompt_sentence": "The ego vehicle recognizes the impassable flood, brakes and comes to a complete stop at the edge of the water, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.21, "tail_flow": 0.063, "peak_flow": 0.565, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 25.49, "end_v": 1.66, "v_final": 1.34, "max_abs_heading": 7.93 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_41.mp4": { "taxonomy_id": 65, "k": 41, "polarity": "positive", "label": 0, "category": "Category 5 — Road Surface & Markings", "object": "Contraflow lane", "ood_context": "Reversed/contraflow lane coned off during roadwork", "prompt_sentence": "The ego vehicle slows down and steers along the coned contraflow, following the temporary yellow markings.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "stopped", "head_flow": 0.028, "tail_flow": 0.042, "peak_flow": 1.05, "prompt_video": false }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.96" ], "start_v": 24.88, "end_v": 23.93, "v_final": 18.12, "max_abs_heading": 49.22 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": false, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_42.mp4": { "taxonomy_id": 66, "k": 42, "polarity": "positive", "label": 0, "category": "Category 5 — Road Surface & Markings", "object": "Flush road edge", "ood_context": "Alley with poles flush to the road, only yellow edge lines", "prompt_sentence": "The ego vehicle recognizes the pole, slows down and steers left to keep well clear of it before pulling over.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 0.021, "tail_flow": 0.381, "peak_flow": 0.606, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 20.58, "end_v": 7.89, "v_final": 6.21, "max_abs_heading": 28.71 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_43.mp4": { "taxonomy_id": 67, "k": 43, "polarity": "positive", "label": 0, "category": "Category 5 — Road Surface & Markings", "object": "Road debris", "ood_context": "Floor mat or mud tracked across the lane", "prompt_sentence": "The ego vehicle recognizes the mat as minor debris and continues driving at its normal cruising speed straight over it without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.127, "tail_flow": 0.126, "peak_flow": 0.315, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 40.7, "end_v": 37.77, "v_final": 26.36, "max_abs_heading": 12.61 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": false, "id_ok": true, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 7890, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_44.mp4": { "taxonomy_id": 68, "k": 44, "polarity": "positive", "label": 0, "category": "Category 5 — Road Surface & Markings", "object": "Tumbleweed", "ood_context": "Tumbleweed rolling across the highway", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed through the path of the tumbleweed without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.359, "tail_flow": 0.385, "peak_flow": 6.932, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 48.15, "end_v": 46.57, "v_final": 35.55, "max_abs_heading": 25.2 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_45.mp4": { "taxonomy_id": 69, "k": 45, "polarity": "positive", "label": 0, "category": "Category 5 — Road Surface & Markings", "object": "Asphalt patch", "ood_context": "Fresh dark asphalt patch over potholes", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed straight over the patch without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.015, "tail_flow": 0.218, "peak_flow": 0.462, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 7.71, "end_v": 7.35, "v_final": 6.73, "max_abs_heading": 5.65 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_46.mp4": { "taxonomy_id": 70, "k": 46, "polarity": "positive", "label": 0, "category": "Category 5 — Road Surface & Markings", "object": "Sinkhole/manhole", "ood_context": "Sudden sinkhole or uncovered manhole in the lane", "prompt_sentence": "The ego vehicle detects the void, slows down and steers to the left to pass around the open manhole.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "unmeasurable", "head_flow": 0.027, "tail_flow": 0.095, "peak_flow": 0.2, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 18.56, "end_v": 10.5, "v_final": 10.99, "max_abs_heading": 51.95 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_47.mp4": { "taxonomy_id": 71, "k": 47, "polarity": "positive", "label": 0, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Towed vehicle", "ood_context": "Pickup towed backwards, persistently angled across a turn lane", "prompt_sentence": "The ego vehicle predicts the angled pickup's path, slows down markedly, and keeps rolling at the reduced speed well behind it.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.377, "tail_flow": 0.183, "peak_flow": 0.684, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 21.18, "end_v": 5.53, "v_final": 3.39, "max_abs_heading": 5.92 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_48.mp4": { "taxonomy_id": 72, "k": 48, "polarity": "positive", "label": 0, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Overhanging cargo", "ood_context": "Truck with a ladder/pipe extending past its tailgate at head height", "prompt_sentence": "The ego vehicle detects the protruding ladder, slows down to drop well back from the truck, and keeps rolling at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.279, "tail_flow": 0.068, "peak_flow": 0.4, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=1.25" ], "start_v": 8.99, "end_v": 11.2, "v_final": 9.18, "max_abs_heading": 3.32 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_49.mp4": { "taxonomy_id": 73, "k": 49, "polarity": "positive", "label": 0, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Vehicle wrap", "ood_context": "Van wrapped with a photo of an open road or another car", "prompt_sentence": "The ego vehicle recognizes the wrapped van as a vehicle and slows down markedly behind it, keeping its distance at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.08, "tail_flow": 0.193, "peak_flow": 0.304, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.92" ], "start_v": 13.24, "end_v": 12.12, "v_final": 10.01, "max_abs_heading": 1.27 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_50.mp4": { "taxonomy_id": 74, "k": 50, "polarity": "positive", "label": 0, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Oversized load", "ood_context": "Wide load (boat, turbine blade) spanning lanes", "prompt_sentence": "The ego vehicle recognizes the blade's extent, slows down markedly and hugs the right edge to keep a wide clearance, rolling at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.258, "tail_flow": 0.596, "peak_flow": 0.854, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.92" ], "start_v": 35.36, "end_v": 32.54, "v_final": 24.2, "max_abs_heading": 38.16 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_51.mp4": { "taxonomy_id": 75, "k": 51, "polarity": "positive", "label": 0, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Ex-emergency vehicle", "ood_context": "Retired police/ambulance replica with a dormant light bar", "prompt_sentence": "The ego vehicle treats it as an ordinary parked vehicle and continues driving at its normal cruising speed past it without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.301, "tail_flow": 0.162, "peak_flow": 0.578, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 17.68, "end_v": 17.98, "v_final": 13.81, "max_abs_heading": 17.97 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_52.mp4": { "taxonomy_id": 79, "k": 52, "polarity": "positive", "label": 0, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Articulated trailer", "ood_context": "Trailer swinging wide on a turn", "prompt_sentence": "The ego vehicle anticipates the trailer's swing, stays back with a complete stop held at its position, and remains stationary until the trailer clears.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.051, "tail_flow": 0.073, "peak_flow": 0.133, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.11, "end_v": 0.92, "v_final": 1.25, "max_abs_heading": 3.86 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_53.mp4": { "taxonomy_id": 80, "k": 53, "polarity": "positive", "label": 0, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Glass/mirror cargo", "ood_context": "Truck hauling large mirrors reflecting the road and sky", "prompt_sentence": "The ego vehicle recognizes the reflective cargo as part of the truck and slows down markedly behind it, keeping its distance at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.1, "tail_flow": 0.162, "peak_flow": 0.266, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.96" ], "start_v": 32.55, "end_v": 31.25, "v_final": 24.39, "max_abs_heading": 7.47 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_54.mp4": { "taxonomy_id": 81, "k": 54, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Fire engine", "ood_context": "Fire engine at an active scene needing the lane", "prompt_sentence": "The ego vehicle yields, slows down and steers to the right edge of the street to clear the path.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 0.132, "tail_flow": 0.492, "peak_flow": 0.673, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.76", "expected steering, max|heading|=1.1deg" ], "start_v": 9.0, "end_v": 6.81, "v_final": 5.96, "max_abs_heading": 1.09 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_55.mp4": { "taxonomy_id": 82, "k": 55, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Fire hose", "ood_context": "Charged fire hose laid across the roadway", "prompt_sentence": "The ego vehicle recognizes the hose, brakes and comes to a complete stop well before it, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.325, "tail_flow": 0.028, "peak_flow": 0.378, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 10.81, "end_v": 0.25, "v_final": 0.06, "max_abs_heading": 7.28 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_56.mp4": { "taxonomy_id": 83, "k": 56, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Scene barrier", "ood_context": "Police caution tape and flares marking a closed scene", "prompt_sentence": "The ego vehicle recognizes the closure, brakes and comes to a complete stop before the caution tape, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.146, "tail_flow": 0.025, "peak_flow": 0.205, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 7.65, "end_v": 0.14, "v_final": 0.18, "max_abs_heading": 5.34 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_57.mp4": { "taxonomy_id": 84, "k": 57, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "School bus", "ood_context": "Stopped bus, red lights flashing, stop-arm extended", "prompt_sentence": "The ego vehicle recognizes the active school bus, brakes smoothly and comes to a complete stop well behind it, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.246, "tail_flow": 0.038, "peak_flow": 0.497, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 8.68, "end_v": 0.72, "v_final": 0.73, "max_abs_heading": 9.99 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_58.mp4": { "taxonomy_id": 85, "k": 58, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Emergency lights", "ood_context": "Ambulance/police flashers and flares at a roadside incident", "prompt_sentence": "The ego vehicle detects the incident, slows down and steers into the left lane to move over from the responders.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "ambiguous", "head_flow": 0.068, "tail_flow": 0.285, "peak_flow": 0.521, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.90", "expected steering, max|heading|=1.1deg" ], "start_v": 44.71, "end_v": 40.45, "v_final": 29.58, "max_abs_heading": 1.08 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_59.mp4": { "taxonomy_id": 86, "k": 59, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Post-event crowd", "ood_context": "Post-fireworks gridlock, dense crowds, degraded connectivity", "prompt_sentence": "The ego vehicle slows down to a crawl and keeps creeping forward with the traffic as the crowd flows around it.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.272, "tail_flow": 0.27, "peak_flow": 0.411, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 6.91, "end_v": 3.88, "v_final": 3.03, "max_abs_heading": 8.09 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_60.mp4": { "taxonomy_id": 87, "k": 60, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Funeral procession", "ood_context": "Slow procession legally running a red as a group", "prompt_sentence": "The ego vehicle recognizes the procession and holds a complete stop at the line until the last car passes, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.09, "tail_flow": 0.017, "peak_flow": 0.119, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.37, "end_v": 0.22, "v_final": 0.34, "max_abs_heading": 7.62 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": true, "installed": true }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 9012, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_61.mp4": { "taxonomy_id": 88, "k": 61, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Parade/marathon", "ood_context": "Runners or a parade filling a closed street", "prompt_sentence": "The ego vehicle recognizes the closure, brakes and comes to a complete stop before the barricades, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.204, "tail_flow": 0.103, "peak_flow": 0.49, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 15.88, "end_v": 1.4, "v_final": 0.95, "max_abs_heading": 23.52 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_62.mp4": { "taxonomy_id": 89, "k": 62, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Protest cone", "ood_context": "Protester placing a traffic cone on the hood", "prompt_sentence": "The ego vehicle recognizes the cone as harmless, slows down and steers gently around the protester to move on.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 0.356, "tail_flow": 0.49, "peak_flow": 0.624, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 6.85, "end_v": 2.47, "v_final": 3.75, "max_abs_heading": 8.03 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 9012, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_63.mp4": { "taxonomy_id": 90, "k": 63, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Active police scene", "ood_context": "Mass-casualty scene with EMS attempting a U-turn", "prompt_sentence": "The ego vehicle yields to the ambulance, slows down and steers to the right curb to clear the road.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "unmeasurable", "head_flow": 0.203, "tail_flow": 0.293, "peak_flow": 0.341, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected steering, max|heading|=3.5deg" ], "start_v": 5.43, "end_v": 2.91, "v_final": 3.03, "max_abs_heading": 3.49 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_64.mp4": { "taxonomy_id": 91, "k": 64, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Crossing guard", "ood_context": "Guard holding a handheld STOP paddle", "prompt_sentence": "The ego vehicle recognizes the guard's paddle, brakes smoothly and comes to a complete stop before the crosswalk, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.506, "tail_flow": 0.014, "peak_flow": 0.65, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 12.57, "end_v": 0.15, "v_final": 0.07, "max_abs_heading": 5.69 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_65.mp4": { "taxonomy_id": 92, "k": 65, "polarity": "positive", "label": 0, "category": "Category 7 — Emergency & Event Scenarios", "object": "Storm debris", "ood_context": "Fallen tree/downed power line across the lane", "prompt_sentence": "The ego vehicle detects the limb and the drooping line, brakes and comes to a complete stop well before them, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.251, "tail_flow": 0.015, "peak_flow": 0.276, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 12.46, "end_v": 0.09, "v_final": 0.14, "max_abs_heading": 4.55 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_66.mp4": { "taxonomy_id": 93, "k": 66, "polarity": "positive", "label": 0, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Projected pedestrian", "ood_context": "Image of a person projected onto the road for a split second", "prompt_sentence": "The ego vehicle ignores the depthless projection and continues driving at its normal cruising speed through the spot without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.093, "tail_flow": 0.114, "peak_flow": 0.254, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 39.76, "end_v": 41.48, "v_final": 32.38, "max_abs_heading": 2.66 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_67.mp4": { "taxonomy_id": 94, "k": 67, "polarity": "positive", "label": 0, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Projected sign", "ood_context": "Speed-limit sign projected onto a tree/wall", "prompt_sentence": "The ego vehicle obeys the real posted sign, slows down to the lower town speed, and keeps rolling at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.018, "tail_flow": 0.132, "peak_flow": 0.174, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=40.11" ], "start_v": 0.16, "end_v": 6.34, "v_final": 5.19, "max_abs_heading": 5.2 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_68.mp4": { "taxonomy_id": 95, "k": 68, "polarity": "positive", "label": 0, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Adversarial patch", "ood_context": "Adversarial patch making a stop sign “vanish” to the detector", "prompt_sentence": "The ego vehicle still detects the stop sign, brakes smoothly and comes to a complete stop at the marked line, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.508, "tail_flow": 0.016, "peak_flow": 0.776, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 13.74, "end_v": 0.2, "v_final": 0.42, "max_abs_heading": 8.78 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_69.mp4": { "taxonomy_id": 96, "k": 69, "polarity": "positive", "label": 0, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Fake lane stickers", "ood_context": "Three small stickers on the road forming a fake lane line", "prompt_sentence": "The ego vehicle follows the true lane lines and continues driving at its normal cruising speed straight ahead without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.088, "tail_flow": 0.045, "peak_flow": 0.74, "prompt_video": false }, "id": { "agree": true, "reasons": [], "start_v": 19.33, "end_v": 17.71, "v_final": 14.38, "max_abs_heading": 15.08 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": false, "id_ok": true, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_70.mp4": { "taxonomy_id": 97, "k": 70, "polarity": "positive", "label": 0, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Programmable signage", "ood_context": "LED sign flashing an octagon/arrow at camera height", "prompt_sentence": "The ego vehicle recognizes the dynamic advertisement and continues driving at its normal cruising speed past the store without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.226, "tail_flow": 0.149, "peak_flow": 0.495, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 11.11, "end_v": 7.68, "v_final": 6.3, "max_abs_heading": 29.04 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_71.mp4": { "taxonomy_id": 98, "k": 71, "polarity": "positive", "label": 0, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Painted road symbol", "ood_context": "Large arrow/symbol painted for a film shoot or event", "prompt_sentence": "The ego vehicle ignores the decorative marking and continues driving at its normal cruising speed straight ahead without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.013, "tail_flow": 0.015, "peak_flow": 0.051, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 26.2, "end_v": 27.88, "v_final": 21.52, "max_abs_heading": 46.86 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_72.mp4": { "taxonomy_id": 100, "k": 72, "polarity": "positive", "label": 0, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Projected road/tunnel", "ood_context": "Video of a road/tunnel projected onto a surface ahead at night", "prompt_sentence": "The ego vehicle detects the physical wall, brakes and comes to a complete stop well before it, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.164, "tail_flow": 0.025, "peak_flow": 0.211, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 12.33, "end_v": 0.19, "v_final": 0.08, "max_abs_heading": 12.8 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_73.mp4": { "taxonomy_id": 101, "k": 73, "polarity": "positive", "label": 0, "category": "Category 9 — Reflections & Screens", "object": "Digital billboard", "ood_context": "Billboard showing a full-screen car/brake lights at night", "prompt_sentence": "The ego vehicle recognizes the screen as an advertisement and continues driving at its normal cruising speed past the billboard without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.057, "tail_flow": 0.05, "peak_flow": 0.13, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 64.52, "end_v": 59.1, "v_final": 43.16, "max_abs_heading": 3.33 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_74.mp4": { "taxonomy_id": 102, "k": 74, "polarity": "positive", "label": 0, "category": "Category 9 — Reflections & Screens", "object": "Mirrored building", "ood_context": "Glass tower reflecting the street, cars, and a signal", "prompt_sentence": "The ego vehicle recognizes the reflection and continues driving at its normal cruising speed past the tower without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.331, "tail_flow": 0.475, "peak_flow": 1.088, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 14.32, "end_v": 20.08, "v_final": 16.76, "max_abs_heading": 44.54 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_75.mp4": { "taxonomy_id": 103, "k": 75, "polarity": "positive", "label": 0, "category": "Category 9 — Reflections & Screens", "object": "Wet-road light image", "ood_context": "Traffic-light colors mirrored on a rain-slicked road", "prompt_sentence": "The ego vehicle ignores the surface reflection and continues driving at its normal cruising speed through the intersection on the green light without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.321, "tail_flow": 0.367, "peak_flow": 0.648, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 8.81, "end_v": 13.88, "v_final": 11.15, "max_abs_heading": 2.82 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_76.mp4": { "taxonomy_id": 104, "k": 76, "polarity": "positive", "label": 0, "category": "Category 9 — Reflections & Screens", "object": "Mobile ad screen", "ood_context": "LED ad truck playing video of roads/people", "prompt_sentence": "The ego vehicle recognizes the screen content as media and continues driving at its normal cruising speed behind the truck without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.052, "tail_flow": 0.07, "peak_flow": 0.095, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 3.23, "end_v": 4.14, "v_final": 3.98, "max_abs_heading": 5.45 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_77.mp4": { "taxonomy_id": 106, "k": 77, "polarity": "positive", "label": 0, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Construction zone", "ood_context": "Ramp-closure signs and cones marking a freeway work zone", "prompt_sentence": "The ego vehicle recognizes the closure, slows down and steers into the marked turn-off before the barrels.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 0.853, "tail_flow": 0.822, "peak_flow": 3.312, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.89" ], "start_v": 33.01, "end_v": 29.5, "v_final": 18.36, "max_abs_heading": 46.83 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "positive_scenarios/prompt_78.mp4": { "taxonomy_id": 107, "k": 78, "polarity": "positive", "label": 0, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Railroad crossing", "ood_context": "Crossing gate lowered, red lights flashing, train approaching", "prompt_sentence": "The ego vehicle recognizes the active crossing, brakes and comes to a complete stop behind the gate, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.286, "tail_flow": 0.034, "peak_flow": 0.615, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 18.39, "end_v": 0.33, "v_final": 0.16, "max_abs_heading": 8.12 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_79.mp4": { "taxonomy_id": 108, "k": 79, "polarity": "positive", "label": 0, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Roundabout", "ood_context": "Small parking-lot roundabout/planter", "prompt_sentence": "The ego vehicle steers out of the roundabout at the exit and continues driving at its normal cruising speed along the exit road without slowing or stopping.", "expectation": { "class": "maintain", "steer": true }, "flow": { "end_state": "ambiguous", "head_flow": 0.343, "tail_flow": 0.155, "peak_flow": 1.403, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 13.85, "end_v": 21.28, "v_final": 15.28, "max_abs_heading": 68.11 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_80.mp4": { "taxonomy_id": 109, "k": 80, "polarity": "positive", "label": 0, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Thin barrier", "ood_context": "Chain, gate, or thin cable strung across a driveway/road", "prompt_sentence": "The ego vehicle detects the thin chain, brakes and comes to a complete stop well before it, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.059, "tail_flow": 0.035, "peak_flow": 0.244, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 10.12, "end_v": 0.7, "v_final": 0.51, "max_abs_heading": 4.99 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_81.mp4": { "taxonomy_id": 110, "k": 81, "polarity": "positive", "label": 0, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Parked AV fleet", "ood_context": "Cluster of AVs repositioning in a lot overnight", "prompt_sentence": "The ego vehicle slows down and steers gently between the repositioning vehicles to its own bay.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 0.169, "tail_flow": 0.707, "peak_flow": 0.931, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 8.15, "end_v": 1.83, "v_final": 1.74, "max_abs_heading": 44.07 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 5678, "automatic": "valid", "human": null, "final": null }, "positive_scenarios/prompt_82.mp4": { "taxonomy_id": 111, "k": 82, "polarity": "positive", "label": 0, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Blocked road", "ood_context": "Double-parked car / dead-end alley with no clean exit", "prompt_sentence": "The ego vehicle slows down and steers around the double-parked van through the gap on the left.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 0.176, "tail_flow": 0.53, "peak_flow": 0.843, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=1.49" ], "start_v": 8.75, "end_v": 13.05, "v_final": 11.14, "max_abs_heading": 28.77 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_0.mp4": { "taxonomy_id": 13, "k": 0, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "Stop sign", "ood_context": "Red octagonal Burger King logo on a pole atop a hill", "prompt_sentence": "The ego vehicle mistakes the logo for a stop sign, brakes smoothly and comes to a complete stop in the live lane below the hill, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.104, "tail_flow": 0.022, "peak_flow": 0.246, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 8.37, "end_v": 0.2, "v_final": 0.33, "max_abs_heading": 6.94 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_1.mp4": { "taxonomy_id": 14, "k": 1, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "Speed-limit sign", "ood_context": "“35” altered with a 2-inch tape strip extending the middle bar of the 3", "prompt_sentence": "The ego vehicle misreads the tampered sign as a much higher limit and continues driving at its full cruising speed past the sign without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.257, "tail_flow": 0.231, "peak_flow": 0.4, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 33.83, "end_v": 32.93, "v_final": 26.76, "max_abs_heading": 27.91 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_2.mp4": { "taxonomy_id": 15, "k": 2, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "Stop sign", "ood_context": "Stop sign with small black/white adversarial stickers", "prompt_sentence": "The ego vehicle fails to recognize the sticker-covered sign as a stop sign and continues driving through the intersection at its normal cruising speed without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.338, "tail_flow": 0.694, "peak_flow": 1.474, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.49" ], "start_v": 15.38, "end_v": 7.5, "v_final": 6.6, "max_abs_heading": 17.53 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_3.mp4": { "taxonomy_id": 17, "k": 3, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "Stop sign", "ood_context": "Miniature decorative stop sign in a front-yard garden", "prompt_sentence": "The ego vehicle treats the ornamental sign as a real stop sign, brakes and comes to a complete stop in the middle of the street beside the garden, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.358, "tail_flow": 0.017, "peak_flow": 0.576, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 13.8, "end_v": 0.25, "v_final": 0.38, "max_abs_heading": 14.7 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_4.mp4": { "taxonomy_id": 19, "k": 4, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "Speed-limit sign", "ood_context": "Speed number printed on the side of a parked ad trailer", "prompt_sentence": "The ego vehicle adopts the advertised number as the active limit and continues driving at its full cruising speed past both signs without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.391, "tail_flow": 0.306, "peak_flow": 0.664, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 23.06, "end_v": 22.41, "v_final": 16.76, "max_abs_heading": 33.02 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_5.mp4": { "taxonomy_id": 21, "k": 5, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "Traffic light", "ood_context": "Amber rotating beacon on a parked tow/utility truck", "prompt_sentence": "The ego vehicle mistakes the amber beacon for a traffic signal, brakes and comes to a complete stop in the live lane beside the tow truck, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.165, "tail_flow": 0.068, "peak_flow": 0.215, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 3.04, "end_v": 0.88, "v_final": 0.88, "max_abs_heading": 9.61 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_6.mp4": { "taxonomy_id": 23, "k": 6, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "Digital road sign", "ood_context": "Digital billboard flashing a stop sign for a split second", "prompt_sentence": "The ego vehicle reacts to the split-second image as a real sign, brakes hard and comes to a complete stop in the highway lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.222, "tail_flow": 0.181, "peak_flow": 0.523, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected a stop, end_v=52.0 final=43.2 mph" ], "start_v": 55.13, "end_v": 52.02, "v_final": 43.22, "max_abs_heading": 6.27 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_7.mp4": { "taxonomy_id": 24, "k": 7, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "No-entry sign", "ood_context": "Do-not-enter icon printed on a truck's rear roll-up door", "prompt_sentence": "The ego vehicle treats the decal as a live do-not-enter sign, brakes and comes to a complete stop in the middle of the lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.02, "tail_flow": 0.018, "peak_flow": 0.036, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.14, "end_v": 0.21, "v_final": 0.15, "max_abs_heading": 4.95 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_8.mp4": { "taxonomy_id": 25, "k": 8, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "School-bus stop-arm", "ood_context": "Stop-arm decal painted on a non-bus delivery van", "prompt_sentence": "The ego vehicle treats the painted decal as a deployed stop arm, brakes and comes to a complete stop behind the van in the live lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.065, "tail_flow": 0.012, "peak_flow": 0.114, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 3.95, "end_v": 0.12, "v_final": 0.19, "max_abs_heading": 5.04 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_9.mp4": { "taxonomy_id": 27, "k": 9, "polarity": "negative", "label": 1, "category": "Category 1 — Traffic-Control-Device Look-Alikes", "object": "Traffic light", "ood_context": "Deactivated traffic signals hauled as cargo on a flatbed ahead", "prompt_sentence": "The ego vehicle repeatedly registers the dark signal heads as live lights, brakes hesitantly and slows down sharply behind the truck, and keeps crawling at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.137, "tail_flow": 0.078, "peak_flow": 0.18, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 9.11, "end_v": 5.43, "v_final": 4.94, "max_abs_heading": 3.68 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": true, "installed": true }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 5678, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_10.mp4": { "taxonomy_id": 28, "k": 10, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Life-size cardboard cutout/standee at the roadside", "prompt_sentence": "The ego vehicle mistakes the cutout for a pedestrian stepping out, brakes hard and comes to a complete stop in the lane beside the shop, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.08, "tail_flow": 0.019, "peak_flow": 0.171, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.92, "end_v": 0.4, "v_final": 0.69, "max_abs_heading": 5.1 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_11.mp4": { "taxonomy_id": 29, "k": 11, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Child pedestrian", "ood_context": "Child-size mannequin crossing in front of a stopped school bus, stop-arm out", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed past the stopped bus toward the crossing figure without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.178, "tail_flow": 0.051, "peak_flow": 0.29, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.07" ], "start_v": 14.93, "end_v": 1.03, "v_final": 0.58, "max_abs_heading": 2.08 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_12.mp4": { "taxonomy_id": 30, "k": 12, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Photos of people printed on a bus wrap / truck-side ad", "prompt_sentence": "The ego vehicle treats the printed figures as real pedestrians in the road, brakes hard and comes to a complete stop in its lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.305, "tail_flow": 0.043, "peak_flow": 0.39, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 5.03, "end_v": 2.02, "v_final": 1.44, "max_abs_heading": 5.65 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 7890, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_13.mp4": { "taxonomy_id": 31, "k": 13, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Person in a full-body dinosaur/mascot costume near a crosswalk", "prompt_sentence": "The ego vehicle fails to classify the costumed figure and continues driving through the crosswalk at its normal cruising speed without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.442, "tail_flow": 0.333, "peak_flow": 0.754, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 8.6, "end_v": 10.77, "v_final": 10.21, "max_abs_heading": 19.43 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_14.mp4": { "taxonomy_id": 32, "k": 14, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Person lying prone or doing yoga in the roadway", "prompt_sentence": "The ego vehicle fails to register the person lying on the road and continues driving at its normal cruising speed toward them without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.019, "tail_flow": 0.039, "peak_flow": 0.07, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.24" ], "start_v": 16.14, "end_v": 3.95, "v_final": 2.68, "max_abs_heading": 5.21 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_15.mp4": { "taxonomy_id": 33, "k": 15, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Motionless silver “living statue” street performer", "prompt_sentence": "The ego vehicle classifies the performer as a fixed post and continues driving at its normal cruising speed, skimming close past the performer without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.278, "tail_flow": 0.289, "peak_flow": 0.405, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 6.1, "end_v": 7.69, "v_final": 6.3, "max_abs_heading": 15.96 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_16.mp4": { "taxonomy_id": 34, "k": 16, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Store mannequins displayed at the curb", "prompt_sentence": "The ego vehicle mistakes the mannequins for people stepping out, brakes hard and comes to a complete stop in the lane in front of the store, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.148, "tail_flow": 0.078, "peak_flow": 0.303, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 6.54, "end_v": 2.13, "v_final": 1.79, "max_abs_heading": 10.12 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_17.mp4": { "taxonomy_id": 35, "k": 17, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Worker in retroreflective high-vis clothing causing camera bloom at night", "prompt_sentence": "The ego vehicle loses the worker in the reflective bloom and continues driving at its normal cruising speed past the cones without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.019, "tail_flow": 0.066, "peak_flow": 0.221, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 26.4, "end_v": 25.07, "v_final": 18.19, "max_abs_heading": 6.77 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_18.mp4": { "taxonomy_id": 36, "k": 18, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Pedestrian", "ood_context": "Person carrying a large mirror/glass pane reflecting the road", "prompt_sentence": "The ego vehicle reads the reflected road in the mirror as open lane and continues driving at its normal cruising speed toward the person without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.562, "tail_flow": 0.176, "peak_flow": 0.743, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 22.53, "end_v": 15.98, "v_final": 11.23, "max_abs_heading": 22.48 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_19.mp4": { "taxonomy_id": 38, "k": 19, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Wheelchair user", "ood_context": "Person in a wheelchair/mobility scooter at unusual height and speed", "prompt_sentence": "The ego vehicle misjudges the low fast profile and continues driving at its normal cruising speed toward the crossing without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.101, "tail_flow": 0.287, "peak_flow": 0.45, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.37" ], "start_v": 16.0, "end_v": 5.91, "v_final": 5.68, "max_abs_heading": 14.29 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_20.mp4": { "taxonomy_id": 39, "k": 20, "polarity": "negative", "label": 1, "category": "Category 2 — Pedestrian & Humanoid Confusions", "object": "Cyclist/pedestrian", "ood_context": "Person carrying a mattress/door across the road at dusk", "prompt_sentence": "The ego vehicle fails to classify the shape and continues driving at its normal cruising speed, passing close by the person without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.071, "tail_flow": 0.053, "peak_flow": 0.102, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 4.88, "end_v": 7.42, "v_final": 6.85, "max_abs_heading": 3.67 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_21.mp4": { "taxonomy_id": 40, "k": 21, "polarity": "negative", "label": 1, "category": "Category 3 — Animal Anomalies", "object": "Dog", "ood_context": "Small off-leash dog darting from behind a parked object into the road", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed toward the dog without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.211, "tail_flow": 0.203, "peak_flow": 0.296, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 25.15, "end_v": 21.09, "v_final": 14.95, "max_abs_heading": 11.22 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_22.mp4": { "taxonomy_id": 41, "k": 22, "polarity": "negative", "label": 1, "category": "Category 3 — Animal Anomalies", "object": "Large animal", "ood_context": "Kangaroo hopping — airborne, then landing", "prompt_sentence": "The ego vehicle misjudges the airborne animal as far away and continues driving at its normal cruising speed toward it without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.528, "tail_flow": 0.385, "peak_flow": 0.927, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 26.39, "end_v": 24.97, "v_final": 19.37, "max_abs_heading": 25.45 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_23.mp4": { "taxonomy_id": 42, "k": 23, "polarity": "negative", "label": 1, "category": "Category 3 — Animal Anomalies", "object": "Bird flock", "ood_context": "Flock of pigeons/geese settled on the roadway", "prompt_sentence": "The ego vehicle brakes violently for the birds and comes to a complete stop in the middle of the lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.224, "tail_flow": 0.025, "peak_flow": 0.51, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 10.8, "end_v": 0.19, "v_final": 0.34, "max_abs_heading": 7.43 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_24.mp4": { "taxonomy_id": 43, "k": 24, "polarity": "negative", "label": 1, "category": "Category 3 — Animal Anomalies", "object": "Animal", "ood_context": "Plywood deer decoy or deer-crossing sign silhouette", "prompt_sentence": "The ego vehicle treats the plywood decoy as a live deer, brakes hard and comes to a complete stop in the lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.586, "tail_flow": 0.019, "peak_flow": 0.671, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 13.87, "end_v": 0.17, "v_final": 0.4, "max_abs_heading": 11.84 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_25.mp4": { "taxonomy_id": 44, "k": 25, "polarity": "negative", "label": 1, "category": "Category 3 — Animal Anomalies", "object": "Cat", "ood_context": "Small cat sitting low near a parked car at night", "prompt_sentence": "The ego vehicle fails to detect the cat and continues driving straight along the curb line at its normal speed without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.038, "tail_flow": 0.047, "peak_flow": 0.177, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 7.81, "end_v": 7.27, "v_final": 6.58, "max_abs_heading": 19.4 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_26.mp4": { "taxonomy_id": 46, "k": 26, "polarity": "negative", "label": 1, "category": "Category 3 — Animal Anomalies", "object": "Leashed dog", "ood_context": "Large dog on a leash with a jogger crossing together", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed toward the gap between the jogger and the dog without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.126, "tail_flow": 0.202, "peak_flow": 0.36, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 13.99, "end_v": 8.53, "v_final": 7.37, "max_abs_heading": 4.2 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": true, "installed": true }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": false, "id_ok": null, "installed": false } ], "installed_seed": 5678, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_27.mp4": { "taxonomy_id": 47, "k": 27, "polarity": "negative", "label": 1, "category": "Category 3 — Animal Anomalies", "object": "Livestock", "ood_context": "Cattle/sheep herd occupying the whole road", "prompt_sentence": "The ego vehicle continues to drive forward slowly into the herd, nosing between the animals without stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.704, "tail_flow": 1.044, "peak_flow": 1.541, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.16" ], "start_v": 10.56, "end_v": 1.72, "v_final": 1.46, "max_abs_heading": 1.94 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_28.mp4": { "taxonomy_id": 49, "k": 28, "polarity": "negative", "label": 1, "category": "Category 3 — Animal Anomalies", "object": "Sensor occluder", "ood_context": "Bird dropping/leaf/bug splatter blocking a camera", "prompt_sentence": "The ego vehicle ignores the obscured lens and continues driving at its full cruising speed without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.099, "tail_flow": 0.089, "peak_flow": 0.219, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 65.72, "end_v": 61.22, "v_final": 49.21, "max_abs_heading": 11.13 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_29.mp4": { "taxonomy_id": 50, "k": 29, "polarity": "negative", "label": 1, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Pyrotechnics/smoke", "ood_context": "Lit fireworks and colored smoke in the road on July 4", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed straight into the sparks and smoke without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.136, "tail_flow": 0.37, "peak_flow": 0.395, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 8.62, "end_v": 11.34, "v_final": 8.87, "max_abs_heading": 5.84 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_30.mp4": { "taxonomy_id": 51, "k": 30, "polarity": "negative", "label": 1, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Overpass shadow", "ood_context": "Hard dark shadow cast across the lane by an overpass", "prompt_sentence": "The ego vehicle reads the dark band as an obstacle, brakes hard and comes to a complete stop just before the shadow, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.187, "tail_flow": 0.033, "peak_flow": 0.384, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 27.96, "end_v": 1.12, "v_final": 0.79, "max_abs_heading": 3.04 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": true, "installed": true }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 5678, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_31.mp4": { "taxonomy_id": 52, "k": 31, "polarity": "negative", "label": 1, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Low sun", "ood_context": "Low sun at sunrise/sunset blinding forward cameras", "prompt_sentence": "The ego vehicle continues driving at its full cruising speed into the glare without slowing, despite the washed-out view.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.024, "tail_flow": 0.027, "peak_flow": 0.084, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 49.59, "end_v": 43.48, "v_final": 31.65, "max_abs_heading": 16.86 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_32.mp4": { "taxonomy_id": 53, "k": 32, "polarity": "negative", "label": 1, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Fog", "ood_context": "Dense fog hiding a stopped obstacle/child ahead", "prompt_sentence": "The ego vehicle fails to detect the figure in the fog and continues driving at its normal cruising speed toward it without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.035, "tail_flow": 0.047, "peak_flow": 0.084, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 49.17, "end_v": 44.53, "v_final": 32.35, "max_abs_heading": 17.52 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_33.mp4": { "taxonomy_id": 54, "k": 33, "polarity": "negative", "label": 1, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Rain spray", "ood_context": "Downpour with heavy spray and lane reflections", "prompt_sentence": "The ego vehicle misreads the spray and reflections as an obstacle, brakes hard and comes to a complete stop in the highway lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.172, "tail_flow": 0.595, "peak_flow": 1.223, "prompt_video": false }, "id": { "agree": false, "reasons": [ "expected a stop, end_v=66.3 final=59.2 mph" ], "start_v": 70.01, "end_v": 66.34, "v_final": 59.15, "max_abs_heading": 4.25 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": false, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_34.mp4": { "taxonomy_id": 55, "k": 34, "polarity": "negative", "label": 1, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Steam/exhaust", "ood_context": "Steam from a manhole or cold-weather exhaust plume", "prompt_sentence": "The ego vehicle treats the steam column as a solid obstacle, brakes and swerves sharply to the left and slows down hard to avoid it.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 0.09, "tail_flow": 0.597, "peak_flow": 1.175, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=11.59" ], "start_v": 0.75, "end_v": 8.71, "v_final": 7.47, "max_abs_heading": 17.91 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_35.mp4": { "taxonomy_id": 57, "k": 35, "polarity": "negative", "label": 1, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Dust/whiteout", "ood_context": "Blowing dust reducing visibility to near zero", "prompt_sentence": "The ego vehicle continues driving at its full cruising speed into the whiteout without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.325, "tail_flow": 0.006, "peak_flow": 0.43, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 60.74, "end_v": 45.65, "v_final": 33.75, "max_abs_heading": 6.79 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": false, "id_ok": true, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 7890, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_36.mp4": { "taxonomy_id": 59, "k": 36, "polarity": "negative", "label": 1, "category": "Category 4 — Weather, Smoke & Lighting", "object": "LED glare", "ood_context": "Oncoming truck's high-mounted flashing LED light bar", "prompt_sentence": "The ego vehicle reacts to the glare as a threat, brakes hard and comes to a complete stop in its lane as the truck passes, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.075, "tail_flow": 0.027, "peak_flow": 0.317, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected a stop, end_v=41.0 final=34.0 mph" ], "start_v": 43.32, "end_v": 41.04, "v_final": 34.0, "max_abs_heading": 10.15 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_37.mp4": { "taxonomy_id": 60, "k": 37, "polarity": "negative", "label": 1, "category": "Category 4 — Weather, Smoke & Lighting", "object": "Falling particulates", "ood_context": "Swirl of leaves, ash, or light hail toward the windshield", "prompt_sentence": "The ego vehicle reads the swirl of leaves as obstacles, brakes hard and comes to a complete stop in the lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.347, "tail_flow": 0.062, "peak_flow": 0.63, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 8.98, "end_v": 1.91, "v_final": 1.53, "max_abs_heading": 5.75 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 9012, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_38.mp4": { "taxonomy_id": 61, "k": 38, "polarity": "negative", "label": 1, "category": "Category 5 — Road Surface & Markings", "object": "Surface marks", "ood_context": "Black tar-sealant “snakes” / long skid marks along the lane", "prompt_sentence": "The ego vehicle mistakes the tar snakes for lane edges and swerves toward the right shoulder and slows down sharply.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 3.65, "tail_flow": 1.498, "peak_flow": 5.388, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=1.00" ], "start_v": 46.25, "end_v": 46.08, "v_final": 33.71, "max_abs_heading": 16.0 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_39.mp4": { "taxonomy_id": 62, "k": 39, "polarity": "negative", "label": 1, "category": "Category 5 — Road Surface & Markings", "object": "Wet concrete", "ood_context": "Freshly poured wet concrete in a rebuilt lane", "prompt_sentence": "The ego vehicle fails to recognize the wet surface and continues driving at its normal cruising speed straight onto the wet concrete without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.275, "tail_flow": 0.365, "peak_flow": 0.893, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.47" ], "start_v": 23.92, "end_v": 11.17, "v_final": 7.98, "max_abs_heading": 24.69 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_40.mp4": { "taxonomy_id": 63, "k": 40, "polarity": "negative", "label": 1, "category": "Category 5 — Road Surface & Markings", "object": "Flooded road", "ood_context": "Deep standing water flooding a 40-mph roadway", "prompt_sentence": "The ego vehicle slows down only a little and keeps rolling forward into the deep floodwater at the reduced speed.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.312, "tail_flow": 0.273, "peak_flow": 0.753, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 27.08, "end_v": 13.5, "v_final": 9.85, "max_abs_heading": 11.33 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_41.mp4": { "taxonomy_id": 65, "k": 41, "polarity": "negative", "label": 1, "category": "Category 5 — Road Surface & Markings", "object": "Contraflow lane", "ood_context": "Reversed/contraflow lane coned off during roadwork", "prompt_sentence": "The ego vehicle follows the old white lines straight through the cones without slowing, continuing to drive into the closed section.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.909, "tail_flow": 1.702, "peak_flow": 3.827, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 33.81, "end_v": 32.03, "v_final": 21.47, "max_abs_heading": 32.75 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_42.mp4": { "taxonomy_id": 66, "k": 42, "polarity": "negative", "label": 1, "category": "Category 5 — Road Surface & Markings", "object": "Flush road edge", "ood_context": "Alley with poles flush to the road, only yellow edge lines", "prompt_sentence": "The ego vehicle assigns no importance to the pole and continues drifting straight toward it at its normal speed without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.06, "tail_flow": 0.018, "peak_flow": 0.32, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.01" ], "start_v": 15.45, "end_v": 0.14, "v_final": 0.13, "max_abs_heading": 11.43 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_43.mp4": { "taxonomy_id": 67, "k": 43, "polarity": "negative", "label": 1, "category": "Category 5 — Road Surface & Markings", "object": "Road debris", "ood_context": "Floor mat or mud tracked across the lane", "prompt_sentence": "The ego vehicle brakes hard and swerves across the centre line into the oncoming lane to avoid the mat and slows down sharply.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 0.042, "tail_flow": 1.315, "peak_flow": 2.292, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 46.36, "end_v": 23.15, "v_final": 11.0, "max_abs_heading": 28.21 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_44.mp4": { "taxonomy_id": 68, "k": 44, "polarity": "negative", "label": 1, "category": "Category 5 — Road Surface & Markings", "object": "Tumbleweed", "ood_context": "Tumbleweed rolling across the highway", "prompt_sentence": "The ego vehicle brakes hard for the tumbleweed and comes to a complete stop in the middle of the highway, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "stopped", "head_flow": 0.085, "tail_flow": 0.092, "peak_flow": 0.7, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected a stop, end_v=52.7 final=38.3 mph" ], "start_v": 56.02, "end_v": 52.7, "v_final": 38.29, "max_abs_heading": 7.02 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_45.mp4": { "taxonomy_id": 69, "k": 45, "polarity": "negative", "label": 1, "category": "Category 5 — Road Surface & Markings", "object": "Asphalt patch", "ood_context": "Fresh dark asphalt patch over potholes", "prompt_sentence": "The ego vehicle treats the dark patch as an obstacle and swerves onto the right shoulder and slows down sharply.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "moving", "head_flow": 1.824, "tail_flow": 3.655, "peak_flow": 9.744, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.83" ], "start_v": 11.1, "end_v": 9.19, "v_final": 7.6, "max_abs_heading": 18.69 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_46.mp4": { "taxonomy_id": 70, "k": 46, "polarity": "negative", "label": 1, "category": "Category 5 — Road Surface & Markings", "object": "Sinkhole/manhole", "ood_context": "Sudden sinkhole or uncovered manhole in the lane", "prompt_sentence": "The ego vehicle fails to perceive the hole and continues driving straight toward it at its normal cruising speed without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.016, "tail_flow": 0.206, "peak_flow": 0.265, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.39" ], "start_v": 16.78, "end_v": 6.5, "v_final": 4.44, "max_abs_heading": 12.43 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_47.mp4": { "taxonomy_id": 71, "k": 47, "polarity": "negative", "label": 1, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Towed vehicle", "ood_context": "Pickup towed backwards, persistently angled across a turn lane", "prompt_sentence": "The ego vehicle misjudges the angled pickup's future motion and continues driving at its normal cruising speed toward its swinging tail without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.045, "tail_flow": 0.037, "peak_flow": 0.083, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 1.0, "end_v": 0.6, "v_final": 0.71, "max_abs_heading": 2.9 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 7890, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_48.mp4": { "taxonomy_id": 72, "k": 48, "polarity": "negative", "label": 1, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Overhanging cargo", "ood_context": "Truck with a ladder/pipe extending past its tailgate at head height", "prompt_sentence": "The ego vehicle judges only the truck body and continues driving at its normal cruising speed, closing in under the ladder without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.102, "tail_flow": 0.084, "peak_flow": 0.317, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 24.31, "end_v": 24.11, "v_final": 19.71, "max_abs_heading": 8.24 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_49.mp4": { "taxonomy_id": 73, "k": 49, "polarity": "negative", "label": 1, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Vehicle wrap", "ood_context": "Van wrapped with a photo of an open road or another car", "prompt_sentence": "The ego vehicle reads the printed highway as open road and continues driving at its normal cruising speed toward the van's rear doors without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.296, "tail_flow": 0.211, "peak_flow": 0.478, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 43.39, "end_v": 41.95, "v_final": 31.12, "max_abs_heading": 13.75 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_50.mp4": { "taxonomy_id": 74, "k": 50, "polarity": "negative", "label": 1, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Oversized load", "ood_context": "Wide load (boat, turbine blade) spanning lanes", "prompt_sentence": "The ego vehicle misjudges the load's extent and continues driving at its normal cruising speed along the centre of its lane without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.286, "tail_flow": 0.636, "peak_flow": 1.408, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 47.69, "end_v": 45.07, "v_final": 33.25, "max_abs_heading": 12.9 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_51.mp4": { "taxonomy_id": 75, "k": 51, "polarity": "negative", "label": 1, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Ex-emergency vehicle", "ood_context": "Retired police/ambulance replica with a dormant light bar", "prompt_sentence": "The ego vehicle treats it as an active emergency vehicle, pulls toward the curb and comes to a complete stop behind it, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.072, "tail_flow": 0.009, "peak_flow": 0.122, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 9.93, "end_v": 0.16, "v_final": 0.19, "max_abs_heading": 4.1 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_52.mp4": { "taxonomy_id": 79, "k": 52, "polarity": "negative", "label": 1, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Articulated trailer", "ood_context": "Trailer swinging wide on a turn", "prompt_sentence": "The ego vehicle judges only the cab's path and drives forward into the trailer's swing zone without stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.012, "tail_flow": 0.21, "peak_flow": 0.258, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=21.91" ], "start_v": 0.17, "end_v": 3.63, "v_final": 3.94, "max_abs_heading": 5.91 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_53.mp4": { "taxonomy_id": 80, "k": 53, "polarity": "negative", "label": 1, "category": "Category 6 — Unusual Cargo & Vehicles", "object": "Glass/mirror cargo", "ood_context": "Truck hauling large mirrors reflecting the road and sky", "prompt_sentence": "The ego vehicle reads the reflected road as drivable space and continues driving at its normal cruising speed toward the mirrors without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.096, "tail_flow": 0.118, "peak_flow": 0.331, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 17.96, "end_v": 17.82, "v_final": 13.1, "max_abs_heading": 2.8 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_54.mp4": { "taxonomy_id": 81, "k": 54, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Fire engine", "ood_context": "Fire engine at an active scene needing the lane", "prompt_sentence": "The ego vehicle brakes and comes to a complete stop in the middle of the lane in the fire engine's path, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.022, "tail_flow": 0.016, "peak_flow": 0.042, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.32, "end_v": 0.17, "v_final": 0.34, "max_abs_heading": 2.66 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": true, "installed": true }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 5678, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_55.mp4": { "taxonomy_id": 82, "k": 55, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Fire hose", "ood_context": "Charged fire hose laid across the roadway", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed straight over the charged hose without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.394, "tail_flow": 1.427, "peak_flow": 1.501, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 7.55, "end_v": 6.19, "v_final": 5.74, "max_abs_heading": 58.44 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_56.mp4": { "taxonomy_id": 83, "k": 56, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Scene barrier", "ood_context": "Police caution tape and flares marking a closed scene", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed through the caution tape toward the downed wires without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.409, "tail_flow": 0.232, "peak_flow": 0.518, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 12.12, "end_v": 7.63, "v_final": 6.4, "max_abs_heading": 3.33 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_57.mp4": { "taxonomy_id": 84, "k": 57, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "School bus", "ood_context": "Stopped bus, red lights flashing, stop-arm extended", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed, pulling out to pass the stopped bus without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.354, "tail_flow": 0.551, "peak_flow": 0.689, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 16.92, "end_v": 13.9, "v_final": 12.51, "max_abs_heading": 37.24 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_58.mp4": { "taxonomy_id": 85, "k": 58, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Emergency lights", "ood_context": "Ambulance/police flashers and flares at a roadside incident", "prompt_sentence": "The ego vehicle fails to recognize the scene and continues driving at its normal cruising speed in the right lane beside the responders without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.088, "tail_flow": 0.159, "peak_flow": 0.662, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 45.55, "end_v": 40.46, "v_final": 28.75, "max_abs_heading": 1.88 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": false, "id_ok": true, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": true, "installed": true }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 3456, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_59.mp4": { "taxonomy_id": 86, "k": 59, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Post-event crowd", "ood_context": "Post-fireworks gridlock, dense crowds, degraded connectivity", "prompt_sentence": "The ego vehicle brakes and comes to a complete stop in the middle of the intersection with its hazard lights flashing, and remains stationary as the crowd flows around it.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.063, "tail_flow": 0.06, "peak_flow": 0.099, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.11, "end_v": 0.56, "v_final": 0.73, "max_abs_heading": 6.49 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_60.mp4": { "taxonomy_id": 87, "k": 60, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Funeral procession", "ood_context": "Slow procession legally running a red as a group", "prompt_sentence": "The ego vehicle treats each car independently and drives forward into a gap in the procession without stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.052, "tail_flow": 1.013, "peak_flow": 1.26, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=83.63" ], "start_v": 0.11, "end_v": 9.31, "v_final": 6.73, "max_abs_heading": 35.0 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_61.mp4": { "taxonomy_id": 88, "k": 61, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Parade/marathon", "ood_context": "Runners or a parade filling a closed street", "prompt_sentence": "The ego vehicle continues driving at its normal cruising speed, turning through the barricade gap onto the closed course among the runners without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.372, "tail_flow": 1.817, "peak_flow": 2.473, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 22.36, "end_v": 17.37, "v_final": 12.23, "max_abs_heading": 72.71 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_62.mp4": { "taxonomy_id": 89, "k": 62, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Protest cone", "ood_context": "Protester placing a traffic cone on the hood", "prompt_sentence": "The ego vehicle treats the cone as a disabling obstruction, brakes and comes to a complete stop with its hazard lights flashing, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.121, "tail_flow": 0.025, "peak_flow": 0.247, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 8.48, "end_v": 0.11, "v_final": 0.36, "max_abs_heading": 7.42 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_63.mp4": { "taxonomy_id": 90, "k": 63, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Active police scene", "ood_context": "Mass-casualty scene with EMS attempting a U-turn", "prompt_sentence": "The ego vehicle brakes and comes to a complete stop in the middle of the road directly in the ambulance's turning path, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.044, "tail_flow": 0.019, "peak_flow": 0.103, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.1, "end_v": 0.23, "v_final": 0.25, "max_abs_heading": 9.98 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_64.mp4": { "taxonomy_id": 91, "k": 64, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Crossing guard", "ood_context": "Guard holding a handheld STOP paddle", "prompt_sentence": "The ego vehicle ignores the paddle and continues driving through the crosswalk at its normal cruising speed without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.471, "tail_flow": 0.175, "peak_flow": 1.956, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 22.53, "end_v": 14.2, "v_final": 12.13, "max_abs_heading": 13.93 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_65.mp4": { "taxonomy_id": 92, "k": 65, "polarity": "negative", "label": 1, "category": "Category 7 — Emergency & Event Scenarios", "object": "Storm debris", "ood_context": "Fallen tree/downed power line across the lane", "prompt_sentence": "The ego vehicle fails to perceive the thin line and continues driving at its normal cruising speed into it without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.472, "tail_flow": 0.453, "peak_flow": 1.417, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 28.3, "end_v": 27.7, "v_final": 21.34, "max_abs_heading": 11.14 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_66.mp4": { "taxonomy_id": 93, "k": 66, "polarity": "negative", "label": 1, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Projected pedestrian", "ood_context": "Image of a person projected onto the road for a split second", "prompt_sentence": "The ego vehicle reacts to the projection as a pedestrian, brakes hard and comes to a complete stop in the lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.013, "tail_flow": 0.036, "peak_flow": 0.134, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected a stop, end_v=41.8 final=31.9 mph" ], "start_v": 43.74, "end_v": 41.84, "v_final": 31.9, "max_abs_heading": 2.64 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_67.mp4": { "taxonomy_id": 94, "k": 67, "polarity": "negative", "label": 1, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Projected sign", "ood_context": "Speed-limit sign projected onto a tree/wall", "prompt_sentence": "The ego vehicle adopts the projected higher number and continues driving at its full cruising speed past both signs without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.06, "tail_flow": 0.053, "peak_flow": 0.187, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 39.45, "end_v": 40.04, "v_final": 27.3, "max_abs_heading": 10.02 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 7890, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_68.mp4": { "taxonomy_id": 95, "k": 68, "polarity": "negative", "label": 1, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Adversarial patch", "ood_context": "Adversarial patch making a stop sign “vanish” to the detector", "prompt_sentence": "The ego vehicle fails to detect the stop sign above the patterned poster and continues driving through the intersection at its normal cruising speed without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.374, "tail_flow": 0.806, "peak_flow": 1.053, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.33" ], "start_v": 14.51, "end_v": 4.76, "v_final": 5.36, "max_abs_heading": 24.2 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_69.mp4": { "taxonomy_id": 96, "k": 69, "polarity": "negative", "label": 1, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Fake lane stickers", "ood_context": "Three small stickers on the road forming a fake lane line", "prompt_sentence": "The ego vehicle follows the sticker line and steers across the centre line into the oncoming lane and slows down sharply.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "stopped", "head_flow": 0.057, "tail_flow": 0.033, "peak_flow": 0.95, "prompt_video": false }, "id": { "agree": true, "reasons": [], "start_v": 22.23, "end_v": 7.94, "v_final": 7.22, "max_abs_heading": 46.05 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": false, "id_ok": true, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": false, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_70.mp4": { "taxonomy_id": 97, "k": 70, "polarity": "negative", "label": 1, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Programmable signage", "ood_context": "LED sign flashing an octagon/arrow at camera height", "prompt_sentence": "The ego vehicle reacts to the flashed octagon as a stop sign, brakes and comes to a complete stop in the lane outside the store, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.029, "tail_flow": 0.019, "peak_flow": 0.098, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.89, "end_v": 0.49, "v_final": 0.75, "max_abs_heading": 1.7 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_71.mp4": { "taxonomy_id": 98, "k": 71, "polarity": "negative", "label": 1, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Painted road symbol", "ood_context": "Large arrow/symbol painted for a film shoot or event", "prompt_sentence": "The ego vehicle treats the painted arrow as a mandatory turn, slows down and steers to the right toward the side street.", "expectation": { "class": "decelerate", "steer": true }, "flow": { "end_state": "unmeasurable", "head_flow": 0.021, "tail_flow": 0.052, "peak_flow": 0.121, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.98" ], "start_v": 20.75, "end_v": 20.35, "v_final": 14.65, "max_abs_heading": 24.12 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": true, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_72.mp4": { "taxonomy_id": 100, "k": 72, "polarity": "negative", "label": 1, "category": "Category 8 — Adversarial & Projected Attacks", "object": "Projected road/tunnel", "ood_context": "Video of a road/tunnel projected onto a surface ahead at night", "prompt_sentence": "The ego vehicle treats the projected tunnel as open road and continues to drive toward the wall without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.144, "tail_flow": 0.23, "peak_flow": 0.242, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 11.31, "end_v": 6.89, "v_final": 4.62, "max_abs_heading": 1.91 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_73.mp4": { "taxonomy_id": 101, "k": 73, "polarity": "negative", "label": 1, "category": "Category 9 — Reflections & Screens", "object": "Digital billboard", "ood_context": "Billboard showing a full-screen car/brake lights at night", "prompt_sentence": "The ego vehicle reads the pictured brake lights as a lead vehicle, brakes hard and comes to a complete stop in the highway lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.085, "tail_flow": 0.018, "peak_flow": 0.113, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 17.48, "end_v": 0.72, "v_final": 0.79, "max_abs_heading": 5.62 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": true, "installed": true }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": null, "installed": false } ], "installed_seed": 9012, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_74.mp4": { "taxonomy_id": 102, "k": 74, "polarity": "negative", "label": 1, "category": "Category 9 — Reflections & Screens", "object": "Mirrored building", "ood_context": "Glass tower reflecting the street, cars, and a signal", "prompt_sentence": "The ego vehicle plans around the reflected red signal as if it were real, brakes and comes to a complete stop in the lane beside the tower, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.117, "tail_flow": 0.015, "peak_flow": 0.231, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 4.07, "end_v": 0.17, "v_final": 0.37, "max_abs_heading": 6.11 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_75.mp4": { "taxonomy_id": 103, "k": 75, "polarity": "negative", "label": 1, "category": "Category 9 — Reflections & Screens", "object": "Wet-road light image", "ood_context": "Traffic-light colors mirrored on a rain-slicked road", "prompt_sentence": "The ego vehicle reads the red streak on the wet asphalt as a red signal, brakes and comes to a complete stop before it, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.059, "tail_flow": 0.021, "peak_flow": 0.106, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.37, "end_v": 0.12, "v_final": 0.31, "max_abs_heading": 5.63 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_76.mp4": { "taxonomy_id": 104, "k": 76, "polarity": "negative", "label": 1, "category": "Category 9 — Reflections & Screens", "object": "Mobile ad screen", "ood_context": "LED ad truck playing video of roads/people", "prompt_sentence": "The ego vehicle reacts to the on-screen pedestrians as if they were crossing in front of it, brakes hard and comes to a complete stop in the lane, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.02, "tail_flow": 0.022, "peak_flow": 0.036, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 0.12, "end_v": 0.13, "v_final": 0.28, "max_abs_heading": 5.4 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_77.mp4": { "taxonomy_id": 106, "k": 77, "polarity": "negative", "label": 1, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Construction zone", "ood_context": "Ramp-closure signs and cones marking a freeway work zone", "prompt_sentence": "The ego vehicle continues driving at its full cruising speed past the closure signs and between the barrels into the work zone without slowing.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 1.075, "tail_flow": 0.833, "peak_flow": 1.997, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 24.48, "end_v": 24.44, "v_final": 16.84, "max_abs_heading": 6.79 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_78.mp4": { "taxonomy_id": 107, "k": 78, "polarity": "negative", "label": 1, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Railroad crossing", "ood_context": "Crossing gate lowered, red lights flashing, train approaching", "prompt_sentence": "The ego vehicle fails to detect the gate and lights and continues driving at its normal cruising speed toward the tracks without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.223, "tail_flow": 0.487, "peak_flow": 0.532, "prompt_video": true }, "id": { "agree": true, "reasons": [], "start_v": 14.32, "end_v": 13.06, "v_final": 9.75, "max_abs_heading": 8.19 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": true, "id_ok": true, "installed": true } ], "installed_seed": 5678, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_79.mp4": { "taxonomy_id": 108, "k": 79, "polarity": "negative", "label": 1, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Roundabout", "ood_context": "Small parking-lot roundabout/planter", "prompt_sentence": "The ego vehicle passes the exit again, slows down to a crawl, and keeps circling the planter in another loop.", "expectation": { "class": "decelerate", "steer": false }, "flow": { "end_state": "moving", "head_flow": 0.053, "tail_flow": 0.353, "peak_flow": 0.751, "prompt_video": true }, "id": { "agree": false, "reasons": [ "expected deceleration, end/start velocity=0.82" ], "start_v": 13.8, "end_v": 11.29, "v_final": 9.97, "max_abs_heading": 9.08 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": true, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_80.mp4": { "taxonomy_id": 109, "k": 80, "polarity": "negative", "label": 1, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Thin barrier", "ood_context": "Chain, gate, or thin cable strung across a driveway/road", "prompt_sentence": "The ego vehicle fails to perceive the chain and continues driving at its normal speed toward it without slowing or stopping.", "expectation": { "class": "maintain", "steer": false }, "flow": { "end_state": "ambiguous", "head_flow": 0.093, "tail_flow": 0.274, "peak_flow": 0.658, "prompt_video": null }, "id": { "agree": false, "reasons": [ "expected ~constant speed, end/start velocity=0.42" ], "start_v": 13.59, "end_v": 5.68, "v_final": 4.24, "max_abs_heading": 19.22 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": false, "installed": true }, { "round": 2, "seed": 5678, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 9012, "flow_ok": null, "id_ok": null, "installed": false }, { "round": 2, "seed": 3456, "flow_ok": false, "id_ok": null, "installed": false }, { "round": 2, "seed": 7890, "flow_ok": null, "id_ok": false, "installed": false } ], "installed_seed": 1234, "automatic": "invalid", "human": null, "final": null }, "negative_scenarios/prompt_81.mp4": { "taxonomy_id": 110, "k": 81, "polarity": "negative", "label": 1, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Parked AV fleet", "ood_context": "Cluster of AVs repositioning in a lot overnight", "prompt_sentence": "The ego vehicle brakes and comes to a complete stop nose to nose with the vehicle pulling out, flashing its headlights repeatedly, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.084, "tail_flow": 0.018, "peak_flow": 0.187, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 1.29, "end_v": 0.14, "v_final": 0.21, "max_abs_heading": 6.95 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null }, "negative_scenarios/prompt_82.mp4": { "taxonomy_id": 111, "k": 82, "polarity": "negative", "label": 1, "category": "Category 10 — Infrastructure, Rail & Operational Anomalies", "object": "Blocked road", "ood_context": "Double-parked car / dead-end alley with no clean exit", "prompt_sentence": "The ego vehicle brakes and comes to a complete stop behind the double-parked van, blocking the street, and remains stationary.", "expectation": { "class": "stop", "steer": false }, "flow": { "end_state": "unmeasurable", "head_flow": 0.223, "tail_flow": 0.014, "peak_flow": 0.323, "prompt_video": null }, "id": { "agree": true, "reasons": [], "start_v": 5.65, "end_v": 0.18, "v_final": 0.34, "max_abs_heading": 8.01 }, "attempts": [ { "round": 1, "seed": 1234, "flow_ok": null, "id_ok": true, "installed": true } ], "installed_seed": 1234, "automatic": "valid", "human": null, "final": null } }, "updated": "2026-09-15T21:31:37Z" }