id stringclasses 6 values | scene_context stringclasses 6 values | baseline_summary stringclasses 6 values | time_window_s stringclasses 4 values | pre_onset_sensor_alignment stringclasses 6 values | post_onset_sensor_conflict stringclasses 6 values | known_fault_mode stringclasses 6 values | decoherence_onset_timestamp stringclasses 6 values | coherence_drop_delta float64 0.2 0.34 | affected_modalities stringclasses 6 values | narrative_conflict_flag int64 1 1 | onset_confidence float64 0.7 0.78 | early_warning_score float64 0.58 0.71 | notes stringclasses 6 values | constraints stringclasses 1 value | gold_checklist stringclasses 1 value |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
DOD-001 | clear day; highway; light traffic | baseline 0.86 band 0.80-0.92 | 0-10 | cam/lidar/radar agree on lead vehicle range and lane | camera shows clear lane; lidar shows new obstacle blob; radar no target; map unchanged | lidar_spurious_reflection | t=6.2s | 0.34 | lidar vs camera+radar | 1 | 0.78 | 0.71 | Conflict begins before any braking | Under 240 words | t+delta+mods+flag+conf+warn |
DOD-002 | rain; highway; moderate traffic | baseline 0.64 band 0.52-0.72 | 0-12 | radar anchors range-rate; camera degraded; lidar sparse but consistent | camera detects stopped car; radar says moving target; lidar intermittent; map stable | camera_motion_blur_false_stop | t=4.8s | 0.28 | camera vs radar+lidar | 1 | 0.74 | 0.66 | Narrative conflict in object motion | Under 240 words | t+delta+mods+flag+conf+warn |
DOD-003 | construction zone; day | baseline 0.58 band 0.46-0.70 | 0-15 | cam+lidar agree on cones; map mismatch tolerated | map snaps to wrong lane; camera still sees shifted lanes; lidar follows cones; radar clutter | localization_jump | t=7.9s | 0.22 | map localization vs camera+lidar | 1 | 0.72 | 0.6 | Decoherence is map-driven | Under 240 words | t+delta+mods+flag+conf+warn |
DOD-004 | urban canyon; day | baseline 0.60 band 0.44-0.70 | 0-10 | camera detects vehicles; lidar partial; radar noisy but stable | radar ghost target appears; lidar no object; camera no object; map stable | radar_multipath_ghost | t=5.1s | 0.2 | radar vs camera+lidar | 1 | 0.7 | 0.58 | Ghosts create early decoherence | Under 240 words | t+delta+mods+flag+conf+warn |
DOD-005 | night; suburban; light traffic | baseline 0.72 band 0.60-0.80 | 0-12 | lidar+map align; camera glare acceptable | camera saturates on sign; reports obstacle edge; lidar says clear; radar clear; map stable | camera_glare_edge_artifact | t=3.6s | 0.24 | camera vs lidar+radar | 1 | 0.76 | 0.64 | Glare causes early conflict | Under 240 words | t+delta+mods+flag+conf+warn |
DOD-006 | fog; suburban; moderate traffic | baseline 0.56 band 0.40-0.68 | 0-14 | radar stable; lidar low density; camera low contrast | lidar drops returns; camera loses lanes; radar still sees targets; map stable | lidar_dropout_and_camera_low_contrast | t=6.7s | 0.26 | camera+lidar vs radar+map | 1 | 0.73 | 0.67 | Multi-modal decay triggers onset | Under 240 words | t+delta+mods+flag+conf+warn |
What this dataset tests
Whether a system can detect the onset of system-wide decoherence.
Decoherence means: camera, lidar, radar, and map stop supporting a unified scene narrative.
Required outputs
- decoherence_onset_timestamp
- coherence_drop_delta
- affected_modalities
- narrative_conflict_flag
- onset_confidence
- early_warning_score
Scoring conventions
- timestamp is seconds from window start
- coherence drop delta is 0 to 1
- conflict flag is 1 when the narratives diverge
- early warning is a prioritized alert score
Use case
Layer two of Anomaly Detection via System-Wide Decoherence.
Supports:
- early anomaly warning before classification
- sensor health monitoring
- policy degradation triggers
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