{"samples": [{"_id": {"$oid": "6a3b6e6843a442f472c380c1"}, "filepath": "data/front_left.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.999416069810138, "group": {"_id": {"$oid": "6a3b6e6843a442f472c37fb7"}, "_cls": "Group", "name": "front_left"}, "scenario_id": "0000400", "split": "train", "camera": "front_left", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6843a442f472c37fb8"}, "_cls": "Classification", "tags": [], "label": "turn left"}, "scenario_type": {"_id": {"$oid": "6a3b6e6843a442f472c37fb9"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-34.64, -1.54], [-34.02, -1.49], [-33.04, -1.4], [-31.75, -1.29], [-30.21, -1.16], [-28.48, -1.03], [-26.65, -0.89], [-24.75, -0.76], [-22.82, -0.64], [-20.88, -0.53], [-18.93, -0.42], [-16.97, -0.32], [-15.02, -0.24], [-13.08, -0.16], [-11.15, -0.1], [-9.24, -0.05], [-7.35, -0.01], [-5.48, 0.02], [-3.64, 0.05], [-1.83, 0.07], [-0.08, 0.08]], "expert_like": [[1.61, 0.11], [3.24, 0.17], [4.81, 0.23], [6.33, 0.38], [7.8, 0.6], [9.21, 0.87], [10.56, 1.27], [11.84, 1.77], [13.05, 2.38], [14.18, 3.12], [15.22, 3.97], [16.16, 4.94], [17.01, 5.99], [17.75, 7.15], [18.41, 8.39], [18.98, 9.69], [19.49, 11.03], [19.96, 12.43], [20.39, 13.86], [20.82, 15.31], [21.24, 16.8], [21.7, 18.29], [22.2, 19.8], [22.74, 21.3], [23.34, 22.78]], "wrong_speed": [[1.55, 0.07], [3.07, 0.2], [4.52, 0.25], [5.88, 0.53], [7.11, 0.84], [8.19, 1.09], [9.14, 1.41], [10.0, 1.82], [10.78, 2.23], [11.57, 2.68], [12.4, 3.21], [13.23, 3.93], [14.02, 4.67], [14.74, 5.47], [15.41, 6.32], [16.03, 7.18], [16.56, 8.17], [17.06, 9.16], [17.53, 10.15], [17.97, 11.15], [18.38, 12.19], [18.8, 13.28], [19.21, 14.35], [19.61, 15.44], [20.03, 16.56]], "off_road": [[1.57, 0.06], [3.07, 0.11], [4.48, 0.15], [5.81, 0.17], [7.06, 0.19], [8.22, 0.25], [9.3, 0.39], [10.33, 0.63], [11.3, 0.99], [12.24, 1.45], [13.16, 2.0], [14.07, 2.62], [14.96, 3.31], [15.83, 4.07], [16.68, 4.9], [17.48, 5.81], [18.23, 6.83], [18.93, 7.95], [19.58, 9.18], [20.22, 10.51], [20.88, 11.94], [21.56, 13.45], [22.26, 15.06], [22.99, 16.75], [23.76, 18.53]]}, "reasoning_english": {"situational_awareness": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already slightly decelerated to make a left turn", "steering_first_3s": "steer to the left", "reason_steering_first_3s": "to make a left turn", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the left turn", "steering_last_2s": "steer straight", "reason_steering_last_2s": "to center the car in the lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c37fba"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already slightly decelerated to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c37fbb"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the left", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c37fbc"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c37fbd"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the lane"}]}, "reasoning_spanish": {"situational_awareness": "Quiero salirme de mi carretera hacia otra y veo que por el carril contrario no voy a tener problema porque tengo suficiente espacio con el coche que viene de frente.", "acceleration_first_3s": "voy a mantener la velocidad actual", "reason_acceleration_first_3s": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante", "steering_first_3s": "voy a girar a la izquierda", "reason_steering_first_3s": "para salirme a la nueva vida", "acceleration_last_2s": "voy a mantener la velocidad actual", "reason_acceleration_last_2s": "porque no puedo ir m\u00e1s r\u00e1pido", "steering_last_2s": "voy a seguir recto", "reason_steering_last_2s": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c37fbe"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante"}, {"_id": {"$oid": "6a3b6e6843a442f472c37fbf"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la izquierda", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para salirme a la nueva vida"}, {"_id": {"$oid": "6a3b6e6843a442f472c37fc0"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque no puedo ir m\u00e1s r\u00e1pido"}, {"_id": {"$oid": "6a3b6e6843a442f472c37fc1"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u90ca\u533a\u4e01\u5b57\u8def\u53e3\u7684\u5de6\u8f6c\u8f66\u9053\u4e0a\uff0c\u6b63\u5728\u8ddf\u968f\u524d\u65b9\u8f66\u8f86\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_first_3s": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_last_2s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c37fc2"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c37fc3"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c37fc4"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c37fc5"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn left. What do you notice?", "answer": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already slightly decelerated to make a left turn"}, {"question": "In the next 3 seconds, why are you going to steer to the left?", "answer": "to make a left turn"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the left turn"}, {"question": "In the last 2 seconds, why are you going to steer straight?", "answer": "to center the car in the lane"}], "reasoning_cot_english_reconstructed": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.\nAcceleration 0s - 3s: maintain the current speed since I have already slightly decelerated to make a left turn.\nSteering 0s - 3s: steer to the left to make a left turn.\nAcceleration 3s - 5s: maintain the current speed to finish the left turn.\nSteering 3s - 5s: steer straight to center the car in the lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 6029626, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6843a442f472c380c2"}, "filepath": "data/front.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9997094615656598, "group": {"_id": {"$oid": "6a3b6e6843a442f472c37fb7"}, "_cls": "Group", "name": "front"}, "scenario_id": "0000400", "split": "train", "camera": "front", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6843a442f472c37ff4"}, "_cls": "Classification", "tags": [], "label": "turn left"}, "scenario_type": {"_id": {"$oid": "6a3b6e6843a442f472c37ff5"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-34.64, -1.54], [-34.02, -1.49], [-33.04, -1.4], [-31.75, -1.29], [-30.21, -1.16], [-28.48, -1.03], [-26.65, -0.89], [-24.75, -0.76], [-22.82, -0.64], [-20.88, -0.53], [-18.93, -0.42], [-16.97, -0.32], [-15.02, -0.24], [-13.08, -0.16], [-11.15, -0.1], [-9.24, -0.05], [-7.35, -0.01], [-5.48, 0.02], [-3.64, 0.05], [-1.83, 0.07], [-0.08, 0.08]], "expert_like": [[1.61, 0.11], [3.24, 0.17], [4.81, 0.23], [6.33, 0.38], [7.8, 0.6], [9.21, 0.87], [10.56, 1.27], [11.84, 1.77], [13.05, 2.38], [14.18, 3.12], [15.22, 3.97], [16.16, 4.94], [17.01, 5.99], [17.75, 7.15], [18.41, 8.39], [18.98, 9.69], [19.49, 11.03], [19.96, 12.43], [20.39, 13.86], [20.82, 15.31], [21.24, 16.8], [21.7, 18.29], [22.2, 19.8], [22.74, 21.3], [23.34, 22.78]], "wrong_speed": [[1.55, 0.07], [3.07, 0.2], [4.52, 0.25], [5.88, 0.53], [7.11, 0.84], [8.19, 1.09], [9.14, 1.41], [10.0, 1.82], [10.78, 2.23], [11.57, 2.68], [12.4, 3.21], [13.23, 3.93], [14.02, 4.67], [14.74, 5.47], [15.41, 6.32], [16.03, 7.18], [16.56, 8.17], [17.06, 9.16], [17.53, 10.15], [17.97, 11.15], [18.38, 12.19], [18.8, 13.28], [19.21, 14.35], [19.61, 15.44], [20.03, 16.56]], "off_road": [[1.57, 0.06], [3.07, 0.11], [4.48, 0.15], [5.81, 0.17], [7.06, 0.19], [8.22, 0.25], [9.3, 0.39], [10.33, 0.63], [11.3, 0.99], [12.24, 1.45], [13.16, 2.0], [14.07, 2.62], [14.96, 3.31], [15.83, 4.07], [16.68, 4.9], [17.48, 5.81], [18.23, 6.83], [18.93, 7.95], [19.58, 9.18], [20.22, 10.51], [20.88, 11.94], [21.56, 13.45], [22.26, 15.06], [22.99, 16.75], [23.76, 18.53]]}, "reasoning_english": {"situational_awareness": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already slightly decelerated to make a left turn", "steering_first_3s": "steer to the left", "reason_steering_first_3s": "to make a left turn", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the left turn", "steering_last_2s": "steer straight", "reason_steering_last_2s": "to center the car in the lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c37ff6"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already slightly decelerated to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c37ff7"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the left", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c37ff8"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c37ff9"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the lane"}]}, "reasoning_spanish": {"situational_awareness": "Quiero salirme de mi carretera hacia otra y veo que por el carril contrario no voy a tener problema porque tengo suficiente espacio con el coche que viene de frente.", "acceleration_first_3s": "voy a mantener la velocidad actual", "reason_acceleration_first_3s": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante", "steering_first_3s": "voy a girar a la izquierda", "reason_steering_first_3s": "para salirme a la nueva vida", "acceleration_last_2s": "voy a mantener la velocidad actual", "reason_acceleration_last_2s": "porque no puedo ir m\u00e1s r\u00e1pido", "steering_last_2s": "voy a seguir recto", "reason_steering_last_2s": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c37ffa"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante"}, {"_id": {"$oid": "6a3b6e6843a442f472c37ffb"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la izquierda", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para salirme a la nueva vida"}, {"_id": {"$oid": "6a3b6e6843a442f472c37ffc"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque no puedo ir m\u00e1s r\u00e1pido"}, {"_id": {"$oid": "6a3b6e6843a442f472c37ffd"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u90ca\u533a\u4e01\u5b57\u8def\u53e3\u7684\u5de6\u8f6c\u8f66\u9053\u4e0a\uff0c\u6b63\u5728\u8ddf\u968f\u524d\u65b9\u8f66\u8f86\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_first_3s": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_last_2s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c37ffe"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": 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Your instruction is: turn left. What do you notice?", "answer": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already slightly decelerated to make a left turn"}, {"question": "In the next 3 seconds, why are you going to steer to the left?", "answer": "to make a left turn"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the left turn"}, {"question": "In the last 2 seconds, why are you going to steer straight?", "answer": "to center the car in the lane"}], "reasoning_cot_english_reconstructed": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.\nAcceleration 0s - 3s: maintain the current speed since I have already slightly decelerated to make a left turn.\nSteering 0s - 3s: steer to the left to make a left turn.\nAcceleration 3s - 5s: maintain the current speed to finish the left turn.\nSteering 3s - 5s: steer straight to center the car in the lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T17:47:16.377Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 4821352, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}, "qwen_emb_front": {"$binary": {"base64": 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15.44], [20.03, 16.56]], "off_road": [[1.57, 0.06], [3.07, 0.11], [4.48, 0.15], [5.81, 0.17], [7.06, 0.19], [8.22, 0.25], [9.3, 0.39], [10.33, 0.63], [11.3, 0.99], [12.24, 1.45], [13.16, 2.0], [14.07, 2.62], [14.96, 3.31], [15.83, 4.07], [16.68, 4.9], [17.48, 5.81], [18.23, 6.83], [18.93, 7.95], [19.58, 9.18], [20.22, 10.51], [20.88, 11.94], [21.56, 13.45], [22.26, 15.06], [22.99, 16.75], [23.76, 18.53]]}, "reasoning_english": {"situational_awareness": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already slightly decelerated to make a left turn", "steering_first_3s": "steer to the left", "reason_steering_first_3s": "to make a left turn", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the left turn", "steering_last_2s": "steer straight", "reason_steering_last_2s": "to center the car in the lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c38061"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already slightly decelerated to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c38062"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the left", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c38063"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c38064"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the lane"}]}, "reasoning_spanish": {"situational_awareness": "Quiero salirme de mi carretera hacia otra y veo que por el carril contrario no voy a tener problema porque tengo suficiente espacio con el coche que viene de frente.", "acceleration_first_3s": "voy a mantener la velocidad actual", "reason_acceleration_first_3s": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante", "steering_first_3s": "voy a girar a la izquierda", "reason_steering_first_3s": "para salirme a la nueva vida", "acceleration_last_2s": "voy a mantener la velocidad actual", "reason_acceleration_last_2s": "porque no puedo ir m\u00e1s r\u00e1pido", "steering_last_2s": "voy a seguir recto", "reason_steering_last_2s": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c38065"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante"}, {"_id": {"$oid": "6a3b6e6843a442f472c38066"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la izquierda", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para salirme a la nueva vida"}, {"_id": {"$oid": "6a3b6e6843a442f472c38067"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque no puedo ir m\u00e1s r\u00e1pido"}, {"_id": {"$oid": "6a3b6e6843a442f472c38068"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u90ca\u533a\u4e01\u5b57\u8def\u53e3\u7684\u5de6\u8f6c\u8f66\u9053\u4e0a\uff0c\u6b63\u5728\u8ddf\u968f\u524d\u65b9\u8f66\u8f86\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_first_3s": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_last_2s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c38069"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c3806a"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c3806b"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c3806c"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn left. What do you notice?", "answer": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already slightly decelerated to make a left turn"}, {"question": "In the next 3 seconds, why are you going to steer to the left?", "answer": "to make a left turn"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the left turn"}, {"question": "In the last 2 seconds, why are you going to steer straight?", "answer": "to center the car in the lane"}], "reasoning_cot_english_reconstructed": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.\nAcceleration 0s - 3s: maintain the current speed since I have already slightly decelerated to make a left turn.\nSteering 0s - 3s: steer to the left to make a left turn.\nAcceleration 3s - 5s: maintain the current speed to finish the left turn.\nSteering 3s - 5s: steer straight to center the car in the lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 8411396, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6843a442f472c380c4"}, "filepath": "data/rear_left.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9998406785020135, "group": {"_id": {"$oid": "6a3b6e6843a442f472c37fb7"}, "_cls": "Group", "name": "rear_left"}, "scenario_id": "0000400", "split": "train", "camera": "rear_left", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6843a442f472c3806d"}, "_cls": "Classification", "tags": [], "label": "turn left"}, "scenario_type": {"_id": {"$oid": "6a3b6e6843a442f472c3806e"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-34.64, -1.54], [-34.02, -1.49], [-33.04, -1.4], [-31.75, -1.29], [-30.21, -1.16], [-28.48, -1.03], [-26.65, -0.89], [-24.75, -0.76], [-22.82, -0.64], [-20.88, -0.53], [-18.93, -0.42], [-16.97, -0.32], [-15.02, -0.24], [-13.08, -0.16], [-11.15, -0.1], [-9.24, -0.05], [-7.35, -0.01], [-5.48, 0.02], [-3.64, 0.05], [-1.83, 0.07], [-0.08, 0.08]], "expert_like": [[1.61, 0.11], [3.24, 0.17], [4.81, 0.23], [6.33, 0.38], [7.8, 0.6], [9.21, 0.87], [10.56, 1.27], [11.84, 1.77], [13.05, 2.38], [14.18, 3.12], [15.22, 3.97], [16.16, 4.94], [17.01, 5.99], [17.75, 7.15], [18.41, 8.39], [18.98, 9.69], [19.49, 11.03], [19.96, 12.43], [20.39, 13.86], [20.82, 15.31], [21.24, 16.8], [21.7, 18.29], [22.2, 19.8], [22.74, 21.3], [23.34, 22.78]], "wrong_speed": [[1.55, 0.07], [3.07, 0.2], [4.52, 0.25], [5.88, 0.53], [7.11, 0.84], [8.19, 1.09], [9.14, 1.41], [10.0, 1.82], [10.78, 2.23], [11.57, 2.68], [12.4, 3.21], [13.23, 3.93], [14.02, 4.67], [14.74, 5.47], [15.41, 6.32], [16.03, 7.18], [16.56, 8.17], [17.06, 9.16], [17.53, 10.15], [17.97, 11.15], [18.38, 12.19], [18.8, 13.28], [19.21, 14.35], [19.61, 15.44], [20.03, 16.56]], "off_road": [[1.57, 0.06], [3.07, 0.11], [4.48, 0.15], [5.81, 0.17], [7.06, 0.19], [8.22, 0.25], [9.3, 0.39], [10.33, 0.63], [11.3, 0.99], [12.24, 1.45], [13.16, 2.0], [14.07, 2.62], [14.96, 3.31], [15.83, 4.07], [16.68, 4.9], [17.48, 5.81], [18.23, 6.83], [18.93, 7.95], [19.58, 9.18], [20.22, 10.51], [20.88, 11.94], [21.56, 13.45], [22.26, 15.06], [22.99, 16.75], [23.76, 18.53]]}, "reasoning_english": {"situational_awareness": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already slightly decelerated to make a left turn", "steering_first_3s": "steer to the left", "reason_steering_first_3s": "to make a left turn", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the left turn", "steering_last_2s": "steer straight", "reason_steering_last_2s": "to center the car in the lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c3806f"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already slightly decelerated to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c38070"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the left", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c38071"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c38072"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the lane"}]}, "reasoning_spanish": {"situational_awareness": "Quiero salirme de mi carretera hacia otra y veo que por el carril contrario no voy a tener problema porque tengo suficiente espacio con el coche que viene de frente.", "acceleration_first_3s": "voy a mantener la velocidad actual", "reason_acceleration_first_3s": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante", "steering_first_3s": "voy a girar a la izquierda", "reason_steering_first_3s": "para salirme a la nueva vida", "acceleration_last_2s": "voy a mantener la velocidad actual", "reason_acceleration_last_2s": "porque no puedo ir m\u00e1s r\u00e1pido", "steering_last_2s": "voy a seguir recto", "reason_steering_last_2s": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c38073"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante"}, {"_id": {"$oid": "6a3b6e6843a442f472c38074"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la izquierda", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para salirme a la nueva vida"}, {"_id": {"$oid": "6a3b6e6843a442f472c38075"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque no puedo ir m\u00e1s r\u00e1pido"}, {"_id": {"$oid": "6a3b6e6843a442f472c38076"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u90ca\u533a\u4e01\u5b57\u8def\u53e3\u7684\u5de6\u8f6c\u8f66\u9053\u4e0a\uff0c\u6b63\u5728\u8ddf\u968f\u524d\u65b9\u8f66\u8f86\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_first_3s": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_last_2s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c38077"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c38078"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c38079"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c3807a"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn left. What do you notice?", "answer": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already slightly decelerated to make a left turn"}, {"question": "In the next 3 seconds, why are you going to steer to the left?", "answer": "to make a left turn"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the left turn"}, {"question": "In the last 2 seconds, why are you going to steer straight?", "answer": "to center the car in the lane"}], "reasoning_cot_english_reconstructed": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.\nAcceleration 0s - 3s: maintain the current speed since I have already slightly decelerated to make a left turn.\nSteering 0s - 3s: steer to the left to make a left turn.\nAcceleration 3s - 5s: maintain the current speed to finish the left turn.\nSteering 3s - 5s: steer straight to center the car in the lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 6308439, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6843a442f472c380c5"}, "filepath": "data/rear.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9999619552615753, "group": {"_id": {"$oid": "6a3b6e6843a442f472c37fb7"}, "_cls": "Group", "name": "rear"}, "scenario_id": "0000400", "split": "train", "camera": "rear", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6843a442f472c3807b"}, "_cls": "Classification", "tags": [], "label": "turn left"}, "scenario_type": {"_id": {"$oid": "6a3b6e6843a442f472c3807c"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-34.64, -1.54], [-34.02, -1.49], [-33.04, -1.4], [-31.75, -1.29], [-30.21, -1.16], [-28.48, -1.03], [-26.65, -0.89], [-24.75, -0.76], [-22.82, -0.64], [-20.88, -0.53], [-18.93, -0.42], [-16.97, -0.32], [-15.02, -0.24], [-13.08, -0.16], [-11.15, -0.1], [-9.24, -0.05], [-7.35, -0.01], [-5.48, 0.02], [-3.64, 0.05], [-1.83, 0.07], [-0.08, 0.08]], "expert_like": [[1.61, 0.11], [3.24, 0.17], [4.81, 0.23], [6.33, 0.38], [7.8, 0.6], [9.21, 0.87], [10.56, 1.27], [11.84, 1.77], [13.05, 2.38], [14.18, 3.12], [15.22, 3.97], [16.16, 4.94], [17.01, 5.99], [17.75, 7.15], [18.41, 8.39], [18.98, 9.69], [19.49, 11.03], [19.96, 12.43], [20.39, 13.86], [20.82, 15.31], [21.24, 16.8], [21.7, 18.29], [22.2, 19.8], [22.74, 21.3], [23.34, 22.78]], "wrong_speed": [[1.55, 0.07], [3.07, 0.2], [4.52, 0.25], [5.88, 0.53], [7.11, 0.84], [8.19, 1.09], [9.14, 1.41], [10.0, 1.82], [10.78, 2.23], [11.57, 2.68], [12.4, 3.21], [13.23, 3.93], [14.02, 4.67], [14.74, 5.47], [15.41, 6.32], [16.03, 7.18], [16.56, 8.17], [17.06, 9.16], [17.53, 10.15], [17.97, 11.15], [18.38, 12.19], [18.8, 13.28], [19.21, 14.35], [19.61, 15.44], [20.03, 16.56]], "off_road": [[1.57, 0.06], [3.07, 0.11], [4.48, 0.15], [5.81, 0.17], [7.06, 0.19], [8.22, 0.25], [9.3, 0.39], [10.33, 0.63], [11.3, 0.99], [12.24, 1.45], [13.16, 2.0], [14.07, 2.62], [14.96, 3.31], [15.83, 4.07], [16.68, 4.9], [17.48, 5.81], [18.23, 6.83], [18.93, 7.95], [19.58, 9.18], [20.22, 10.51], [20.88, 11.94], [21.56, 13.45], [22.26, 15.06], [22.99, 16.75], [23.76, 18.53]]}, "reasoning_english": {"situational_awareness": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already slightly decelerated to make a left turn", "steering_first_3s": "steer to the left", "reason_steering_first_3s": "to make a left turn", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the left turn", "steering_last_2s": "steer straight", "reason_steering_last_2s": "to center the car in the lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c3807d"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already slightly decelerated to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c3807e"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the left", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c3807f"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c38080"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the lane"}]}, "reasoning_spanish": {"situational_awareness": "Quiero salirme de mi carretera hacia otra y veo que por el carril contrario no voy a tener problema porque tengo suficiente espacio con el coche que viene de frente.", "acceleration_first_3s": "voy a mantener la velocidad actual", "reason_acceleration_first_3s": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante", "steering_first_3s": "voy a girar a la izquierda", "reason_steering_first_3s": "para salirme a la nueva vida", "acceleration_last_2s": "voy a mantener la velocidad actual", "reason_acceleration_last_2s": "porque no puedo ir m\u00e1s r\u00e1pido", "steering_last_2s": "voy a seguir recto", "reason_steering_last_2s": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c38081"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante"}, {"_id": {"$oid": "6a3b6e6843a442f472c38082"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la izquierda", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para salirme a la nueva vida"}, {"_id": {"$oid": "6a3b6e6843a442f472c38083"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque no puedo ir m\u00e1s r\u00e1pido"}, {"_id": {"$oid": "6a3b6e6843a442f472c38084"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u90ca\u533a\u4e01\u5b57\u8def\u53e3\u7684\u5de6\u8f6c\u8f66\u9053\u4e0a\uff0c\u6b63\u5728\u8ddf\u968f\u524d\u65b9\u8f66\u8f86\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_first_3s": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_last_2s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c38085"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c38086"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c38087"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c38088"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn left. What do you notice?", "answer": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already slightly decelerated to make a left turn"}, {"question": "In the next 3 seconds, why are you going to steer to the left?", "answer": "to make a left turn"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the left turn"}, {"question": "In the last 2 seconds, why are you going to steer straight?", "answer": "to center the car in the lane"}], "reasoning_cot_english_reconstructed": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.\nAcceleration 0s - 3s: maintain the current speed since I have already slightly decelerated to make a left turn.\nSteering 0s - 3s: steer to the left to make a left turn.\nAcceleration 3s - 5s: maintain the current speed to finish the left turn.\nSteering 3s - 5s: steer straight to center the car in the lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:10:09.743Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 4145974, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}, "qwen_emb_rear": {"$binary": {"base64": 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"subType": "00"}}, "uniqueness_rear": 1.0, "representativeness_rear": 1.0},{"_id": {"$oid": "6a3b6e6843a442f472c380c6"}, "filepath": "data/rear_right.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9996378804568216, "group": {"_id": {"$oid": "6a3b6e6843a442f472c37fb7"}, "_cls": "Group", "name": "rear_right"}, "scenario_id": "0000400", "split": "train", "camera": "rear_right", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6843a442f472c380b3"}, "_cls": "Classification", "tags": [], "label": "turn left"}, "scenario_type": {"_id": {"$oid": "6a3b6e6843a442f472c380b4"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-34.64, -1.54], [-34.02, -1.49], [-33.04, -1.4], [-31.75, -1.29], [-30.21, -1.16], [-28.48, -1.03], [-26.65, -0.89], [-24.75, -0.76], [-22.82, -0.64], [-20.88, -0.53], [-18.93, -0.42], [-16.97, -0.32], [-15.02, -0.24], [-13.08, -0.16], [-11.15, -0.1], [-9.24, -0.05], [-7.35, -0.01], [-5.48, 0.02], [-3.64, 0.05], [-1.83, 0.07], [-0.08, 0.08]], "expert_like": [[1.61, 0.11], [3.24, 0.17], [4.81, 0.23], [6.33, 0.38], [7.8, 0.6], [9.21, 0.87], [10.56, 1.27], [11.84, 1.77], [13.05, 2.38], [14.18, 3.12], [15.22, 3.97], [16.16, 4.94], [17.01, 5.99], [17.75, 7.15], [18.41, 8.39], [18.98, 9.69], [19.49, 11.03], [19.96, 12.43], [20.39, 13.86], [20.82, 15.31], [21.24, 16.8], [21.7, 18.29], [22.2, 19.8], [22.74, 21.3], [23.34, 22.78]], "wrong_speed": [[1.55, 0.07], [3.07, 0.2], [4.52, 0.25], [5.88, 0.53], [7.11, 0.84], [8.19, 1.09], [9.14, 1.41], [10.0, 1.82], [10.78, 2.23], [11.57, 2.68], [12.4, 3.21], [13.23, 3.93], [14.02, 4.67], [14.74, 5.47], [15.41, 6.32], [16.03, 7.18], [16.56, 8.17], [17.06, 9.16], [17.53, 10.15], [17.97, 11.15], [18.38, 12.19], [18.8, 13.28], [19.21, 14.35], [19.61, 15.44], [20.03, 16.56]], "off_road": [[1.57, 0.06], [3.07, 0.11], [4.48, 0.15], [5.81, 0.17], [7.06, 0.19], [8.22, 0.25], [9.3, 0.39], [10.33, 0.63], [11.3, 0.99], [12.24, 1.45], [13.16, 2.0], [14.07, 2.62], [14.96, 3.31], [15.83, 4.07], [16.68, 4.9], [17.48, 5.81], [18.23, 6.83], [18.93, 7.95], [19.58, 9.18], [20.22, 10.51], [20.88, 11.94], [21.56, 13.45], [22.26, 15.06], [22.99, 16.75], [23.76, 18.53]]}, "reasoning_english": {"situational_awareness": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already slightly decelerated to make a left turn", "steering_first_3s": "steer to the left", "reason_steering_first_3s": "to make a left turn", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the left turn", "steering_last_2s": "steer straight", "reason_steering_last_2s": "to center the car in the lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c380b5"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already slightly decelerated to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c380b6"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the left", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to make a left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c380b7"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the left turn"}, {"_id": {"$oid": "6a3b6e6843a442f472c380b8"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the lane"}]}, "reasoning_spanish": {"situational_awareness": "Quiero salirme de mi carretera hacia otra y veo que por el carril contrario no voy a tener problema porque tengo suficiente espacio con el coche que viene de frente.", "acceleration_first_3s": "voy a mantener la velocidad actual", "reason_acceleration_first_3s": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante", "steering_first_3s": "voy a girar a la izquierda", "reason_steering_first_3s": "para salirme a la nueva vida", "acceleration_last_2s": "voy a mantener la velocidad actual", "reason_acceleration_last_2s": "porque no puedo ir m\u00e1s r\u00e1pido", "steering_last_2s": "voy a seguir recto", "reason_steering_last_2s": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c380b9"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante"}, {"_id": {"$oid": "6a3b6e6843a442f472c380ba"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la izquierda", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para salirme a la nueva vida"}, {"_id": {"$oid": "6a3b6e6843a442f472c380bb"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque no puedo ir m\u00e1s r\u00e1pido"}, {"_id": {"$oid": "6a3b6e6843a442f472c380bc"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u90ca\u533a\u4e01\u5b57\u8def\u53e3\u7684\u5de6\u8f6c\u8f66\u9053\u4e0a\uff0c\u6b63\u5728\u8ddf\u968f\u524d\u65b9\u8f66\u8f86\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_first_3s": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_last_2s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6843a442f472c380bd"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c380be"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c380bf"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3b6e6843a442f472c380c0"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn left. What do you notice?", "answer": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already slightly decelerated to make a left turn"}, {"question": "In the next 3 seconds, why are you going to steer to the left?", "answer": "to make a left turn"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the left turn"}, {"question": "In the last 2 seconds, why are you going to steer straight?", "answer": "to center the car in the lane"}], "reasoning_cot_english_reconstructed": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.\nAcceleration 0s - 3s: maintain the current speed since I have already slightly decelerated to make a left turn.\nSteering 0s - 3s: steer to the left to make a left turn.\nAcceleration 3s - 5s: maintain the current speed to finish the left turn.\nSteering 3s - 5s: steer straight to center the car in the lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 7139294, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6b43a442f472c3819f"}, "filepath": "data/front_left-2.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9998403997233816, "group": {"_id": {"$oid": "6a3b6e6b43a442f472c380c7"}, "_cls": "Group", "name": "front_left"}, "scenario_id": "0000401", "split": "train", "camera": "front_left", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6b43a442f472c380c8"}, "_cls": "Classification", "tags": [], "label": "turn right"}, "scenario_type": {"_id": {"$oid": "6a3b6e6b43a442f472c380c9"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-25.4, 2.03], [-24.83, 1.96], [-23.93, 1.86], [-22.74, 1.73], [-21.35, 1.58], [-19.81, 1.42], [-18.2, 1.25], [-16.59, 1.09], [-14.99, 0.93], [-13.43, 0.79], [-11.92, 0.63], [-10.46, 0.48], [-9.07, 0.34], [-7.71, 0.21], [-6.41, 0.09], [-5.16, -0.03], [-3.96, -0.11], [-2.8, -0.17], [-1.69, -0.21], [-0.64, -0.23], [0.36, -0.21]], "expert_like": [[1.3, -0.17], [2.21, -0.11], [3.07, -0.04], [3.91, 0.06], [4.72, 0.17], [5.51, 0.3], [6.3, 0.42], [7.07, 0.55], [7.86, 0.69], [8.65, 0.82], [9.48, 0.97], [10.34, 1.11], [11.25, 1.24], [12.23, 1.37], [13.26, 1.5], [14.34, 1.58], [15.5, 1.64], [16.71, 1.66], [17.98, 1.61], [19.29, 1.5], [20.65, 1.32], [22.05, 1.07], [23.47, 0.77], [24.91, 0.42], [26.4, 0.05]], "wrong_speed": [[0.89, 0.05], [1.77, 0.13], [2.59, 0.2], [3.37, 0.3], [4.09, 0.41], [4.73, 0.5], [5.32, 0.57], [5.87, 0.62], [6.39, 0.71], [6.95, 0.79], [7.57, 0.87], [8.24, 0.95], [8.96, 1.07], [9.71, 1.17], [10.48, 1.25], [11.28, 1.32], [12.17, 1.44], [13.06, 1.52], [13.97, 1.56], [14.92, 1.56], [15.91, 1.57], [16.94, 1.52], [17.98, 1.42], [19.04, 1.28], [20.12, 1.1]], "off_road": [[0.94, 0.08], [1.87, 0.14], [2.81, 0.16], [3.76, 0.16], [4.71, 0.13], [5.68, 0.08], [6.66, 0.01], [7.65, -0.07], [8.65, -0.17], [9.68, -0.27], [10.72, -0.38], [11.77, -0.49], [12.84, -0.59], [13.93, -0.7], [15.04, -0.8], [16.16, -0.9], [17.3, -0.99], [18.46, -1.07], [19.63, -1.15], [20.82, -1.23], [22.02, -1.3], [23.24, -1.36], [24.47, -1.42], [25.72, -1.49], [26.98, -1.55]]}, "reasoning_english": {"situational_awareness": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already decelerated to enter the roundabout", "steering_first_3s": "steer straight", "reason_steering_first_3s": "to enter the roundabout", "acceleration_last_2s": "accelerate slightly", "reason_acceleration_last_2s": "to reach a normal driving speed in an urban environment", "steering_last_2s": "steer to the right", "reason_steering_last_2s": "to follow my instruction and exit the roundabout with a right turn"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c380ca"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already decelerated to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380cb"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380cc"}, "_cls": "TemporalDetection", "tags": [], "label": "accelerate slightly", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to reach a normal driving speed in an urban environment"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380cd"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the right", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to follow my instruction and exit the roundabout with a right turn"}]}, "reasoning_spanish": {"situational_awareness": "Me aproximo una rotonda donde ya hay coches en ella y de frente quieren entrar muchos.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque no tengo que ceder el paso a nadie para entrar en la rotonda", "steering_first_3s": "voy a seguir recto porque", "reason_steering_first_3s": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda", "acceleration_last_2s": "voy a acelerar ligeramente", "reason_acceleration_last_2s": "porque al salir de la rotonda tengo que ganar velocidad", "steering_last_2s": "voy a girar a la derecha", "reason_steering_last_2s": "por la forma de la carretera"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c380ce"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque no tengo que ceder el paso a nadie para entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380cf"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto porque", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380d0"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a acelerar ligeramente", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque al salir de la rotonda tengo que ganar velocidad"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380d1"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la derecha", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "por la forma de la carretera"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u57ce\u5e02\u5c45\u6c11\u5c45\u533a\u7684\u73af\u5c9b\u5165\u53e3\uff0c\u73af\u5c9b\u5185\u6709\u4e24\u8f86\u8f66\u4f46\u90fd\u4e0d\u5f71\u54cd\u6211\u901a\u884c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002", "steering_first_3s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_first_3s": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002", "acceleration_last_2s": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002", "steering_last_2s": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c380d2"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380d3"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380d4"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380d5"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn right. What do you notice?", "answer": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already decelerated to enter the roundabout"}, {"question": "In the next 3 seconds, why are you going to steer straight?", "answer": "to enter the roundabout"}, {"question": "In the last 2 seconds, why are you going to accelerate slightly?", "answer": "to reach a normal driving speed in an urban environment"}, {"question": "In the last 2 seconds, why are you going to steer to the right?", "answer": "to follow my instruction and exit the roundabout with a right turn"}], "reasoning_cot_english_reconstructed": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.\nAcceleration 0s - 3s: maintain the current speed since I have already decelerated to enter the roundabout.\nSteering 0s - 3s: steer straight to enter the roundabout.\nAcceleration 3s - 5s: accelerate slightly to reach a normal driving speed in an urban environment.\nSteering 3s - 5s: steer to the right to follow my instruction and exit the roundabout with a right turn.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3127401, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6b43a442f472c381a0"}, "filepath": "data/front-2.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9991937930468094, "group": {"_id": {"$oid": "6a3b6e6b43a442f472c380c7"}, "_cls": "Group", "name": "front"}, "scenario_id": "0000401", "split": "train", "camera": "front", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6b43a442f472c380d6"}, "_cls": "Classification", "tags": [], "label": "turn right"}, "scenario_type": {"_id": {"$oid": "6a3b6e6b43a442f472c380d7"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-25.4, 2.03], [-24.83, 1.96], [-23.93, 1.86], [-22.74, 1.73], [-21.35, 1.58], [-19.81, 1.42], [-18.2, 1.25], [-16.59, 1.09], [-14.99, 0.93], [-13.43, 0.79], [-11.92, 0.63], [-10.46, 0.48], [-9.07, 0.34], [-7.71, 0.21], [-6.41, 0.09], [-5.16, -0.03], [-3.96, -0.11], [-2.8, -0.17], [-1.69, -0.21], [-0.64, -0.23], [0.36, -0.21]], "expert_like": [[1.3, -0.17], [2.21, -0.11], [3.07, -0.04], [3.91, 0.06], [4.72, 0.17], [5.51, 0.3], [6.3, 0.42], [7.07, 0.55], [7.86, 0.69], [8.65, 0.82], [9.48, 0.97], [10.34, 1.11], [11.25, 1.24], [12.23, 1.37], [13.26, 1.5], [14.34, 1.58], [15.5, 1.64], [16.71, 1.66], [17.98, 1.61], [19.29, 1.5], [20.65, 1.32], [22.05, 1.07], [23.47, 0.77], [24.91, 0.42], [26.4, 0.05]], "wrong_speed": [[0.89, 0.05], [1.77, 0.13], [2.59, 0.2], [3.37, 0.3], [4.09, 0.41], [4.73, 0.5], [5.32, 0.57], [5.87, 0.62], [6.39, 0.71], [6.95, 0.79], [7.57, 0.87], [8.24, 0.95], [8.96, 1.07], [9.71, 1.17], [10.48, 1.25], [11.28, 1.32], [12.17, 1.44], [13.06, 1.52], [13.97, 1.56], [14.92, 1.56], [15.91, 1.57], [16.94, 1.52], [17.98, 1.42], [19.04, 1.28], [20.12, 1.1]], "off_road": [[0.94, 0.08], [1.87, 0.14], [2.81, 0.16], [3.76, 0.16], [4.71, 0.13], [5.68, 0.08], [6.66, 0.01], [7.65, -0.07], [8.65, -0.17], [9.68, -0.27], [10.72, -0.38], [11.77, -0.49], [12.84, -0.59], [13.93, -0.7], [15.04, -0.8], [16.16, -0.9], [17.3, -0.99], [18.46, -1.07], [19.63, -1.15], [20.82, -1.23], [22.02, -1.3], [23.24, -1.36], [24.47, -1.42], [25.72, -1.49], [26.98, -1.55]]}, "reasoning_english": {"situational_awareness": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already decelerated to enter the roundabout", "steering_first_3s": "steer straight", "reason_steering_first_3s": "to enter the roundabout", "acceleration_last_2s": "accelerate slightly", "reason_acceleration_last_2s": "to reach a normal driving speed in an urban environment", "steering_last_2s": "steer to the right", "reason_steering_last_2s": "to follow my instruction and exit the roundabout with a right turn"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c380d8"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already decelerated to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380d9"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380da"}, "_cls": "TemporalDetection", "tags": [], "label": "accelerate slightly", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to reach a normal driving speed in an urban environment"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380db"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the right", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to follow my instruction and exit the roundabout with a right turn"}]}, "reasoning_spanish": {"situational_awareness": "Me aproximo una rotonda donde ya hay coches en ella y de frente quieren entrar muchos.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque no tengo que ceder el paso a nadie para entrar en la rotonda", "steering_first_3s": "voy a seguir recto porque", "reason_steering_first_3s": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda", "acceleration_last_2s": "voy a acelerar ligeramente", "reason_acceleration_last_2s": "porque al salir de la rotonda tengo que ganar velocidad", "steering_last_2s": "voy a girar a la derecha", "reason_steering_last_2s": "por la forma de la carretera"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c380dc"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque no tengo que ceder el paso a nadie para entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380dd"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto porque", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380de"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a acelerar ligeramente", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque al salir de la rotonda tengo que ganar velocidad"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380df"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la derecha", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "por la forma de la carretera"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u57ce\u5e02\u5c45\u6c11\u5c45\u533a\u7684\u73af\u5c9b\u5165\u53e3\uff0c\u73af\u5c9b\u5185\u6709\u4e24\u8f86\u8f66\u4f46\u90fd\u4e0d\u5f71\u54cd\u6211\u901a\u884c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002", "steering_first_3s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_first_3s": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002", "acceleration_last_2s": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002", "steering_last_2s": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c380e0"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380e1"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380e2"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c380e3"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn right. What do you notice?", "answer": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already decelerated to enter the roundabout"}, {"question": "In the next 3 seconds, why are you going to steer straight?", "answer": "to enter the roundabout"}, {"question": "In the last 2 seconds, why are you going to accelerate slightly?", "answer": "to reach a normal driving speed in an urban environment"}, {"question": "In the last 2 seconds, why are you going to steer to the right?", "answer": "to follow my instruction and exit the roundabout with a right turn"}], "reasoning_cot_english_reconstructed": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.\nAcceleration 0s - 3s: maintain the current speed since I have already decelerated to enter the roundabout.\nSteering 0s - 3s: steer straight to enter the roundabout.\nAcceleration 3s - 5s: accelerate slightly to reach a normal driving speed in an urban environment.\nSteering 3s - 5s: steer to the right to follow my instruction and exit the roundabout with a right turn.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T17:47:29.096Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3524064, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}, "qwen_emb_front": {"$binary": {"base64": 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"subType": "00"}}, "uniqueness_front": 0.7618942756774775, "representativeness_front": 0.8949129581451416, "scene_3d": "/home/harpreet/fiftyone/huggingface/hub/harpreetsahota/KITScenes-LongTail/data/front-2_scene.fo3d"},{"_id": {"$oid": "6a3b6e6b43a442f472c381a1"}, "filepath": "data/front_right-2.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9997374747718549, "group": {"_id": {"$oid": "6a3b6e6b43a442f472c380c7"}, "_cls": "Group", "name": "front_right"}, "scenario_id": "0000401", "split": "train", "camera": "front_right", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6b43a442f472c3813d"}, "_cls": "Classification", "tags": [], "label": "turn right"}, "scenario_type": {"_id": {"$oid": "6a3b6e6b43a442f472c3813e"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-25.4, 2.03], [-24.83, 1.96], [-23.93, 1.86], [-22.74, 1.73], [-21.35, 1.58], [-19.81, 1.42], [-18.2, 1.25], [-16.59, 1.09], [-14.99, 0.93], [-13.43, 0.79], [-11.92, 0.63], [-10.46, 0.48], [-9.07, 0.34], [-7.71, 0.21], [-6.41, 0.09], [-5.16, -0.03], [-3.96, -0.11], [-2.8, -0.17], [-1.69, -0.21], [-0.64, -0.23], [0.36, -0.21]], "expert_like": [[1.3, -0.17], [2.21, -0.11], [3.07, -0.04], [3.91, 0.06], [4.72, 0.17], [5.51, 0.3], [6.3, 0.42], [7.07, 0.55], [7.86, 0.69], [8.65, 0.82], [9.48, 0.97], [10.34, 1.11], [11.25, 1.24], [12.23, 1.37], [13.26, 1.5], [14.34, 1.58], [15.5, 1.64], [16.71, 1.66], [17.98, 1.61], [19.29, 1.5], [20.65, 1.32], [22.05, 1.07], [23.47, 0.77], [24.91, 0.42], [26.4, 0.05]], "wrong_speed": [[0.89, 0.05], [1.77, 0.13], [2.59, 0.2], [3.37, 0.3], [4.09, 0.41], [4.73, 0.5], [5.32, 0.57], [5.87, 0.62], [6.39, 0.71], [6.95, 0.79], [7.57, 0.87], [8.24, 0.95], [8.96, 1.07], [9.71, 1.17], [10.48, 1.25], [11.28, 1.32], [12.17, 1.44], [13.06, 1.52], [13.97, 1.56], [14.92, 1.56], [15.91, 1.57], [16.94, 1.52], [17.98, 1.42], [19.04, 1.28], [20.12, 1.1]], "off_road": [[0.94, 0.08], [1.87, 0.14], [2.81, 0.16], [3.76, 0.16], [4.71, 0.13], [5.68, 0.08], [6.66, 0.01], [7.65, -0.07], [8.65, -0.17], [9.68, -0.27], [10.72, -0.38], [11.77, -0.49], [12.84, -0.59], [13.93, -0.7], [15.04, -0.8], [16.16, -0.9], [17.3, -0.99], [18.46, -1.07], [19.63, -1.15], [20.82, -1.23], [22.02, -1.3], [23.24, -1.36], [24.47, -1.42], [25.72, -1.49], [26.98, -1.55]]}, "reasoning_english": {"situational_awareness": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already decelerated to enter the roundabout", "steering_first_3s": "steer straight", "reason_steering_first_3s": "to enter the roundabout", "acceleration_last_2s": "accelerate slightly", "reason_acceleration_last_2s": "to reach a normal driving speed in an urban environment", "steering_last_2s": "steer to the right", "reason_steering_last_2s": "to follow my instruction and exit the roundabout with a right turn"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c3813f"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already decelerated to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38140"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38141"}, "_cls": "TemporalDetection", "tags": [], "label": "accelerate slightly", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to reach a normal driving speed in an urban environment"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38142"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the right", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to follow my instruction and exit the roundabout with a right turn"}]}, "reasoning_spanish": {"situational_awareness": "Me aproximo una rotonda donde ya hay coches en ella y de frente quieren entrar muchos.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque no tengo que ceder el paso a nadie para entrar en la rotonda", "steering_first_3s": "voy a seguir recto porque", "reason_steering_first_3s": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda", "acceleration_last_2s": "voy a acelerar ligeramente", "reason_acceleration_last_2s": "porque al salir de la rotonda tengo que ganar velocidad", "steering_last_2s": "voy a girar a la derecha", "reason_steering_last_2s": "por la forma de la carretera"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c38143"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque no tengo que ceder el paso a nadie para entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38144"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto porque", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda"}, 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"\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38148"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38149"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3814a"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn right. What do you notice?", "answer": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already decelerated to enter the roundabout"}, {"question": "In the next 3 seconds, why are you going to steer straight?", "answer": "to enter the roundabout"}, {"question": "In the last 2 seconds, why are you going to accelerate slightly?", "answer": "to reach a normal driving speed in an urban environment"}, {"question": "In the last 2 seconds, why are you going to steer to the right?", "answer": "to follow my instruction and exit the roundabout with a right turn"}], "reasoning_cot_english_reconstructed": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.\nAcceleration 0s - 3s: maintain the current speed since I have already decelerated to enter the roundabout.\nSteering 0s - 3s: steer straight to enter the roundabout.\nAcceleration 3s - 5s: accelerate slightly to reach a normal driving speed in an urban environment.\nSteering 3s - 5s: steer to the right to follow my instruction and exit the roundabout with a right turn.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 4132384, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6b43a442f472c381a2"}, "filepath": "data/rear_left-2.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9994167309391527, "group": {"_id": {"$oid": "6a3b6e6b43a442f472c380c7"}, "_cls": "Group", "name": "rear_left"}, "scenario_id": "0000401", "split": "train", "camera": "rear_left", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6b43a442f472c3814b"}, "_cls": "Classification", "tags": [], "label": "turn right"}, "scenario_type": {"_id": {"$oid": "6a3b6e6b43a442f472c3814c"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-25.4, 2.03], [-24.83, 1.96], [-23.93, 1.86], [-22.74, 1.73], [-21.35, 1.58], [-19.81, 1.42], [-18.2, 1.25], [-16.59, 1.09], [-14.99, 0.93], [-13.43, 0.79], [-11.92, 0.63], [-10.46, 0.48], [-9.07, 0.34], [-7.71, 0.21], [-6.41, 0.09], [-5.16, -0.03], [-3.96, -0.11], [-2.8, -0.17], [-1.69, -0.21], [-0.64, -0.23], [0.36, -0.21]], "expert_like": [[1.3, -0.17], [2.21, -0.11], [3.07, -0.04], [3.91, 0.06], [4.72, 0.17], [5.51, 0.3], [6.3, 0.42], [7.07, 0.55], [7.86, 0.69], [8.65, 0.82], [9.48, 0.97], [10.34, 1.11], [11.25, 1.24], [12.23, 1.37], [13.26, 1.5], [14.34, 1.58], [15.5, 1.64], [16.71, 1.66], [17.98, 1.61], [19.29, 1.5], [20.65, 1.32], [22.05, 1.07], [23.47, 0.77], [24.91, 0.42], [26.4, 0.05]], "wrong_speed": [[0.89, 0.05], [1.77, 0.13], [2.59, 0.2], [3.37, 0.3], [4.09, 0.41], [4.73, 0.5], [5.32, 0.57], [5.87, 0.62], [6.39, 0.71], [6.95, 0.79], [7.57, 0.87], [8.24, 0.95], [8.96, 1.07], [9.71, 1.17], [10.48, 1.25], [11.28, 1.32], [12.17, 1.44], [13.06, 1.52], [13.97, 1.56], [14.92, 1.56], [15.91, 1.57], [16.94, 1.52], [17.98, 1.42], [19.04, 1.28], [20.12, 1.1]], "off_road": [[0.94, 0.08], [1.87, 0.14], [2.81, 0.16], [3.76, 0.16], [4.71, 0.13], [5.68, 0.08], [6.66, 0.01], [7.65, -0.07], [8.65, -0.17], [9.68, -0.27], [10.72, -0.38], [11.77, -0.49], [12.84, -0.59], [13.93, -0.7], [15.04, -0.8], [16.16, -0.9], [17.3, -0.99], [18.46, -1.07], [19.63, -1.15], [20.82, -1.23], [22.02, -1.3], [23.24, -1.36], [24.47, -1.42], [25.72, -1.49], [26.98, -1.55]]}, "reasoning_english": {"situational_awareness": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already decelerated to enter the roundabout", "steering_first_3s": "steer straight", "reason_steering_first_3s": "to enter the roundabout", "acceleration_last_2s": "accelerate slightly", "reason_acceleration_last_2s": "to reach a normal driving speed in an urban environment", "steering_last_2s": "steer to the right", "reason_steering_last_2s": "to follow my instruction and exit the roundabout with a right turn"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c3814d"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already decelerated to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3814e"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3814f"}, "_cls": "TemporalDetection", "tags": [], "label": "accelerate slightly", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to reach a normal driving speed in an urban environment"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38150"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the right", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to follow my instruction and exit the roundabout with a right turn"}]}, "reasoning_spanish": {"situational_awareness": "Me aproximo una rotonda donde ya hay coches en ella y de frente quieren entrar muchos.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque no tengo que ceder el paso a nadie para entrar en la rotonda", "steering_first_3s": "voy a seguir recto porque", "reason_steering_first_3s": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda", "acceleration_last_2s": "voy a acelerar ligeramente", "reason_acceleration_last_2s": "porque al salir de la rotonda tengo que ganar velocidad", "steering_last_2s": "voy a girar a la derecha", "reason_steering_last_2s": "por la forma de la carretera"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c38151"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque no tengo que ceder el paso a nadie para entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38152"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto porque", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38153"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a acelerar ligeramente", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque al salir de la rotonda tengo que ganar velocidad"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38154"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la derecha", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "por la forma de la carretera"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u57ce\u5e02\u5c45\u6c11\u5c45\u533a\u7684\u73af\u5c9b\u5165\u53e3\uff0c\u73af\u5c9b\u5185\u6709\u4e24\u8f86\u8f66\u4f46\u90fd\u4e0d\u5f71\u54cd\u6211\u901a\u884c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": 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"\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002", "steering_last_2s": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c38155"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38156"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38157"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38158"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn right. What do you notice?", "answer": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already decelerated to enter the roundabout"}, {"question": "In the next 3 seconds, why are you going to steer straight?", "answer": "to enter the roundabout"}, {"question": "In the last 2 seconds, why are you going to accelerate slightly?", "answer": "to reach a normal driving speed in an urban environment"}, {"question": "In the last 2 seconds, why are you going to steer to the right?", "answer": "to follow my instruction and exit the roundabout with a right turn"}], "reasoning_cot_english_reconstructed": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.\nAcceleration 0s - 3s: maintain the current speed since I have already decelerated to enter the roundabout.\nSteering 0s - 3s: steer straight to enter the roundabout.\nAcceleration 3s - 5s: accelerate slightly to reach a normal driving speed in an urban environment.\nSteering 3s - 5s: steer to the right to follow my instruction and exit the roundabout with a right turn.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3201988, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6b43a442f472c381a3"}, "filepath": "data/rear-2.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9999451822867932, "group": {"_id": {"$oid": "6a3b6e6b43a442f472c380c7"}, "_cls": "Group", "name": "rear"}, "scenario_id": "0000401", "split": "train", "camera": "rear", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6b43a442f472c38159"}, "_cls": "Classification", "tags": [], "label": "turn right"}, "scenario_type": {"_id": {"$oid": "6a3b6e6b43a442f472c3815a"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-25.4, 2.03], [-24.83, 1.96], [-23.93, 1.86], [-22.74, 1.73], [-21.35, 1.58], [-19.81, 1.42], [-18.2, 1.25], [-16.59, 1.09], [-14.99, 0.93], [-13.43, 0.79], [-11.92, 0.63], [-10.46, 0.48], [-9.07, 0.34], [-7.71, 0.21], [-6.41, 0.09], [-5.16, -0.03], [-3.96, -0.11], [-2.8, -0.17], [-1.69, -0.21], [-0.64, -0.23], [0.36, -0.21]], "expert_like": [[1.3, -0.17], [2.21, -0.11], [3.07, -0.04], [3.91, 0.06], [4.72, 0.17], [5.51, 0.3], [6.3, 0.42], [7.07, 0.55], [7.86, 0.69], [8.65, 0.82], [9.48, 0.97], [10.34, 1.11], [11.25, 1.24], [12.23, 1.37], [13.26, 1.5], [14.34, 1.58], [15.5, 1.64], [16.71, 1.66], [17.98, 1.61], [19.29, 1.5], [20.65, 1.32], [22.05, 1.07], [23.47, 0.77], [24.91, 0.42], [26.4, 0.05]], "wrong_speed": [[0.89, 0.05], [1.77, 0.13], [2.59, 0.2], [3.37, 0.3], [4.09, 0.41], [4.73, 0.5], [5.32, 0.57], [5.87, 0.62], [6.39, 0.71], [6.95, 0.79], [7.57, 0.87], [8.24, 0.95], [8.96, 1.07], [9.71, 1.17], [10.48, 1.25], [11.28, 1.32], [12.17, 1.44], [13.06, 1.52], [13.97, 1.56], [14.92, 1.56], [15.91, 1.57], [16.94, 1.52], [17.98, 1.42], [19.04, 1.28], [20.12, 1.1]], "off_road": [[0.94, 0.08], [1.87, 0.14], [2.81, 0.16], [3.76, 0.16], [4.71, 0.13], [5.68, 0.08], [6.66, 0.01], [7.65, -0.07], [8.65, -0.17], [9.68, -0.27], [10.72, -0.38], [11.77, -0.49], [12.84, -0.59], [13.93, -0.7], [15.04, -0.8], [16.16, -0.9], [17.3, -0.99], [18.46, -1.07], [19.63, -1.15], [20.82, -1.23], [22.02, -1.3], [23.24, -1.36], [24.47, -1.42], [25.72, -1.49], [26.98, -1.55]]}, "reasoning_english": {"situational_awareness": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already decelerated to enter the roundabout", "steering_first_3s": "steer straight", "reason_steering_first_3s": "to enter the roundabout", "acceleration_last_2s": "accelerate slightly", "reason_acceleration_last_2s": "to reach a normal driving speed in an urban environment", "steering_last_2s": "steer to the right", "reason_steering_last_2s": "to follow my instruction and exit the roundabout with a right turn"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c3815b"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already decelerated to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3815c"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3815d"}, "_cls": "TemporalDetection", "tags": [], "label": "accelerate slightly", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to reach a normal driving speed in an urban environment"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3815e"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the right", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to follow my instruction and exit the roundabout with a right turn"}]}, "reasoning_spanish": {"situational_awareness": "Me aproximo una rotonda donde ya hay coches en ella y de frente quieren entrar muchos.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque no tengo que ceder el paso a nadie para entrar en la rotonda", "steering_first_3s": "voy a seguir recto porque", "reason_steering_first_3s": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda", "acceleration_last_2s": "voy a acelerar ligeramente", "reason_acceleration_last_2s": "porque al salir de la rotonda tengo que ganar velocidad", "steering_last_2s": "voy a girar a la derecha", "reason_steering_last_2s": "por la forma de la carretera"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c3815f"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque no tengo que ceder el paso a nadie para entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38160"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto porque", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38161"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a acelerar ligeramente", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque al salir de la rotonda tengo que ganar velocidad"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38162"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la derecha", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "por la forma de la carretera"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u57ce\u5e02\u5c45\u6c11\u5c45\u533a\u7684\u73af\u5c9b\u5165\u53e3\uff0c\u73af\u5c9b\u5185\u6709\u4e24\u8f86\u8f66\u4f46\u90fd\u4e0d\u5f71\u54cd\u6211\u901a\u884c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002", "steering_first_3s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_first_3s": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002", "acceleration_last_2s": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002", "steering_last_2s": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c38163"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38164"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38165"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38166"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn right. What do you notice?", "answer": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already decelerated to enter the roundabout"}, {"question": "In the next 3 seconds, why are you going to steer straight?", "answer": "to enter the roundabout"}, {"question": "In the last 2 seconds, why are you going to accelerate slightly?", "answer": "to reach a normal driving speed in an urban environment"}, {"question": "In the last 2 seconds, why are you going to steer to the right?", "answer": "to follow my instruction and exit the roundabout with a right turn"}], "reasoning_cot_english_reconstructed": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.\nAcceleration 0s - 3s: maintain the current speed since I have already decelerated to enter the roundabout.\nSteering 0s - 3s: steer straight to enter the roundabout.\nAcceleration 3s - 5s: accelerate slightly to reach a normal driving speed in an urban environment.\nSteering 3s - 5s: steer to the right to follow my instruction and exit the roundabout with a right turn.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:10:09.743Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 2924748, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}, "qwen_emb_rear": {"$binary": {"base64": 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"subType": "00"}}, "uniqueness_rear": 0.7343703158406666, "representativeness_rear": 0.9047845005989075},{"_id": {"$oid": "6a3b6e6b43a442f472c381a4"}, "filepath": "data/rear_right-2.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9990177828434071, "group": {"_id": {"$oid": "6a3b6e6b43a442f472c380c7"}, "_cls": "Group", "name": "rear_right"}, "scenario_id": "0000401", "split": "train", "camera": "rear_right", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6b43a442f472c38191"}, "_cls": "Classification", "tags": [], "label": "turn right"}, "scenario_type": {"_id": {"$oid": "6a3b6e6b43a442f472c38192"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-25.4, 2.03], [-24.83, 1.96], [-23.93, 1.86], [-22.74, 1.73], [-21.35, 1.58], [-19.81, 1.42], [-18.2, 1.25], [-16.59, 1.09], [-14.99, 0.93], [-13.43, 0.79], [-11.92, 0.63], [-10.46, 0.48], [-9.07, 0.34], [-7.71, 0.21], [-6.41, 0.09], [-5.16, -0.03], [-3.96, -0.11], [-2.8, -0.17], [-1.69, -0.21], [-0.64, -0.23], [0.36, -0.21]], "expert_like": [[1.3, -0.17], [2.21, -0.11], [3.07, -0.04], [3.91, 0.06], [4.72, 0.17], [5.51, 0.3], [6.3, 0.42], [7.07, 0.55], [7.86, 0.69], [8.65, 0.82], [9.48, 0.97], [10.34, 1.11], [11.25, 1.24], [12.23, 1.37], [13.26, 1.5], [14.34, 1.58], [15.5, 1.64], [16.71, 1.66], [17.98, 1.61], [19.29, 1.5], [20.65, 1.32], [22.05, 1.07], [23.47, 0.77], [24.91, 0.42], [26.4, 0.05]], "wrong_speed": [[0.89, 0.05], [1.77, 0.13], [2.59, 0.2], [3.37, 0.3], [4.09, 0.41], [4.73, 0.5], [5.32, 0.57], [5.87, 0.62], [6.39, 0.71], [6.95, 0.79], [7.57, 0.87], [8.24, 0.95], [8.96, 1.07], [9.71, 1.17], [10.48, 1.25], [11.28, 1.32], [12.17, 1.44], [13.06, 1.52], [13.97, 1.56], [14.92, 1.56], [15.91, 1.57], [16.94, 1.52], [17.98, 1.42], [19.04, 1.28], [20.12, 1.1]], "off_road": [[0.94, 0.08], [1.87, 0.14], [2.81, 0.16], [3.76, 0.16], [4.71, 0.13], [5.68, 0.08], [6.66, 0.01], [7.65, -0.07], [8.65, -0.17], [9.68, -0.27], [10.72, -0.38], [11.77, -0.49], [12.84, -0.59], [13.93, -0.7], [15.04, -0.8], [16.16, -0.9], [17.3, -0.99], [18.46, -1.07], [19.63, -1.15], [20.82, -1.23], [22.02, -1.3], [23.24, -1.36], [24.47, -1.42], [25.72, -1.49], [26.98, -1.55]]}, "reasoning_english": {"situational_awareness": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already decelerated to enter the roundabout", "steering_first_3s": "steer straight", "reason_steering_first_3s": "to enter the roundabout", "acceleration_last_2s": "accelerate slightly", "reason_acceleration_last_2s": "to reach a normal driving speed in an urban environment", "steering_last_2s": "steer to the right", "reason_steering_last_2s": "to follow my instruction and exit the roundabout with a right turn"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c38193"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already decelerated to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38194"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to enter the roundabout"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38195"}, "_cls": "TemporalDetection", "tags": [], "label": "accelerate slightly", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to reach a normal driving speed in an urban environment"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38196"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the right", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to follow my instruction and exit the roundabout with a right turn"}]}, "reasoning_spanish": {"situational_awareness": "Me aproximo una rotonda donde ya hay coches en ella y de frente quieren entrar muchos.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque no tengo que ceder el paso a nadie para entrar en la rotonda", "steering_first_3s": "voy a seguir recto porque", "reason_steering_first_3s": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda", "acceleration_last_2s": "voy a acelerar ligeramente", "reason_acceleration_last_2s": "porque al salir de la rotonda tengo que ganar velocidad", "steering_last_2s": "voy a girar a la derecha", "reason_steering_last_2s": "por la forma de la carretera"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6b43a442f472c38197"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque no tengo que ceder el paso a nadie para entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38198"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto porque", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda"}, {"_id": {"$oid": "6a3b6e6b43a442f472c38199"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a acelerar ligeramente", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque al salir de la rotonda tengo que ganar velocidad"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3819a"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la derecha", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "por la forma de la carretera"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u57ce\u5e02\u5c45\u6c11\u5c45\u533a\u7684\u73af\u5c9b\u5165\u53e3\uff0c\u73af\u5c9b\u5185\u6709\u4e24\u8f86\u8f66\u4f46\u90fd\u4e0d\u5f71\u54cd\u6211\u901a\u884c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": 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"\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3819c"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3819d"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3b6e6b43a442f472c3819e"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn right. What do you notice?", "answer": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already decelerated to enter the roundabout"}, {"question": "In the next 3 seconds, why are you going to steer straight?", "answer": "to enter the roundabout"}, {"question": "In the last 2 seconds, why are you going to accelerate slightly?", "answer": "to reach a normal driving speed in an urban environment"}, {"question": "In the last 2 seconds, why are you going to steer to the right?", "answer": "to follow my instruction and exit the roundabout with a right turn"}], "reasoning_cot_english_reconstructed": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.\nAcceleration 0s - 3s: maintain the current speed since I have already decelerated to enter the roundabout.\nSteering 0s - 3s: steer straight to enter the roundabout.\nAcceleration 3s - 5s: accelerate slightly to reach a normal driving speed in an urban environment.\nSteering 3s - 5s: steer to the right to follow my instruction and exit the roundabout with a right turn.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3674489, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6f43a442f472c38287"}, "filepath": "data/front_left-3.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9996760100515207, "group": {"_id": {"$oid": "6a3b6e6f43a442f472c381a5"}, "_cls": "Group", "name": "front_left"}, "scenario_id": "0000402", "split": "train", "camera": "front_left", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6f43a442f472c381a6"}, "_cls": "Classification", "tags": [], "label": "use right lane"}, "scenario_type": {"_id": {"$oid": "6a3b6e6f43a442f472c381a7"}, "_cls": "Classification", "tags": [], "label": "3 overtake or lane change"}, "trajectory_bev": {"past": [[-123.42, -4.99], [-121.2, -4.9], [-117.64, -4.77], [-112.92, -4.59], [-107.25, -4.37], [-100.9, -4.12], [-94.15, -3.84], [-87.2, -3.54], [-80.19, -3.23], [-73.19, -2.92], [-66.24, -2.59], [-59.37, -2.27], [-52.58, -1.95], [-45.87, -1.64], [-39.23, -1.34], [-32.66, -1.05], [-26.16, -0.78], [-19.71, -0.54], [-13.3, -0.31], [-6.93, -0.1], [-0.6, 0.1]], "expert_like": [[5.7, 0.27], [11.97, 0.43], [18.23, 0.57], [24.48, 0.7], [30.71, 0.81], [36.92, 0.9], [43.13, 0.98], [49.33, 1.05], [55.52, 1.12], [61.71, 1.18], [67.89, 1.25], [74.07, 1.32], [80.26, 1.4], [86.43, 1.51], [92.61, 1.63], [98.78, 1.78], [104.94, 1.95], [111.11, 2.16], [117.26, 2.39], [123.41, 2.65], [129.56, 2.93], [135.71, 3.24], [141.86, 3.57], [148.0, 3.91], [154.15, 4.25]], "wrong_speed": [[6.18, 0.15], [12.33, 0.28], [18.41, 0.41], [24.23, 0.51], [29.6, 0.61], [34.48, 0.68], [38.89, 0.73], [42.97, 0.77], [46.96, 0.84], [51.12, 0.89], [55.64, 0.94], [60.5, 1.01], [65.44, 1.09], [70.37, 1.15], [75.32, 1.23], [80.27, 1.33], [85.2, 1.46], [90.13, 1.59], [95.07, 1.73], [99.99, 1.88], [104.92, 2.07], [109.85, 2.26], [114.77, 2.46], [119.69, 2.69], [124.6, 2.93]], "crash": [[6.15, 0.17], [12.3, 0.35], [18.43, 0.55], [24.54, 0.77], [30.64, 1.02], [36.72, 1.29], [42.79, 1.58], [48.83, 1.9], [54.85, 2.26], [60.85, 2.65], [66.83, 3.11], [72.79, 3.64], [78.74, 4.25], [84.67, 4.92], [90.6, 5.61], [96.53, 6.26], [102.46, 6.87], [108.41, 7.43], [114.37, 7.92], [120.35, 8.34], [126.34, 8.67], [132.36, 8.93], [138.39, 9.13], [144.44, 9.29], [150.52, 9.42]]}, "reasoning_english": {"situational_awareness": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "to perform a lane change", "steering_first_3s": "steer slightly to the right", "reason_steering_first_3s": "to perform a smooth lane change to the right lane", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the lane change", "steering_last_2s": "steer slightly to the left", "reason_steering_last_2s": "to center the car in the right lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c381a8"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "to perform a lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381a9"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the right", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to perform a smooth lane change to the right lane"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381aa"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381ab"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the left", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the right lane"}]}, "reasoning_spanish": {"situational_awareness": "Voy por el carril central de una autov\u00eda adelantando a un cami\u00f3n y, despu\u00e9s, el carril derecho queda totalmente libre.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque es una velocidad adecuada", "steering_first_3s": "voy a girar ligeramente a la derecha", "reason_steering_first_3s": "para comenzar la maniobra de cambio de carril", "acceleration_last_2s": "voy a mantener la velocidad", "reason_acceleration_last_2s": "porque es una velocidad adecuada", "steering_last_2s": "voy a girar ligeramente a la izquierda", "reason_steering_last_2s": "para centrar el coche en el carril derecho"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c381ac"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381ad"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la derecha", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para comenzar la maniobra de cambio de carril"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381ae"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381af"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la izquierda", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "para centrar el coche en el carril derecho"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u6761\u4e09\u8f66\u9053\u9ad8\u901f\u516c\u8def\u7684\u4e2d\u95f4\u8f66\u9053\uff0c\u524d\u65b9\u5f88\u7a7a\u65f7\u3002\u6211\u521a\u521a\u8d85\u8fc7\u53f3\u8fb9\u7684\u4e00\u8f86\u5361\u8f66\u3002\u6211\u7684\u53f3\u8fb9\u8f66\u9053\u524d\u65b9\u5f88\u7a7a\u65f7\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": 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"steering_last_2s": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c381b0"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u8981\u5411\u53f3\u53d8\u9053\uff0c\u6211\u7684\u8f66\u901f\u5df2\u7ecf\u6bd4\u53f3\u540e\u65b9\u7684\u5361\u8f66\u5feb\uff0c\u53ef\u4ee5\u5728\u53d8\u9053\u540e\u548c\u5b83\u62c9\u5f00\u5b89\u5168\u8ddd\u79bb\uff0c\u540c\u65f6\u76ee\u6807\u8f66\u9053\u524d\u65b9\u4e5f\u5f88\u7a7a\u65f7\uff0c\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u4ee5\u5b8c\u6210\u53d8\u9053\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381b1"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u53f3\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5411\u53f3\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u53f3\u6253\u65b9\u5411\u8fdb\u884c\u53d8\u9053\u64cd\u4f5c\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381b2"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381b3"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: use right lane. What do you notice?", "answer": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "to perform a lane change"}, {"question": "In the next 3 seconds, why are you going to steer slightly to the right?", "answer": "to perform a smooth lane change to the right lane"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the lane change"}, {"question": "In the last 2 seconds, why are you going to steer slightly to the left?", "answer": "to center the car in the right lane"}], "reasoning_cot_english_reconstructed": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.\nAcceleration 0s - 3s: maintain the current speed to perform a lane change.\nSteering 0s - 3s: steer slightly to the right to perform a smooth lane change to the right lane.\nAcceleration 3s - 5s: maintain the current speed to finish the lane change.\nSteering 3s - 5s: steer slightly to the left to center the car in the right lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 5646859, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6f43a442f472c38288"}, "filepath": "data/front-3.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9993988768471384, "group": {"_id": {"$oid": "6a3b6e6f43a442f472c381a5"}, "_cls": "Group", "name": "front"}, "scenario_id": "0000402", "split": "train", "camera": "front", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6f43a442f472c381b4"}, "_cls": "Classification", "tags": [], "label": "use right lane"}, "scenario_type": {"_id": {"$oid": "6a3b6e6f43a442f472c381b5"}, "_cls": "Classification", "tags": [], "label": "3 overtake or lane change"}, "trajectory_bev": {"past": [[-123.42, -4.99], [-121.2, -4.9], [-117.64, -4.77], [-112.92, -4.59], [-107.25, -4.37], [-100.9, -4.12], [-94.15, -3.84], [-87.2, -3.54], [-80.19, -3.23], [-73.19, -2.92], [-66.24, -2.59], [-59.37, -2.27], [-52.58, -1.95], [-45.87, -1.64], [-39.23, -1.34], [-32.66, -1.05], [-26.16, -0.78], [-19.71, -0.54], [-13.3, -0.31], [-6.93, -0.1], [-0.6, 0.1]], "expert_like": [[5.7, 0.27], [11.97, 0.43], [18.23, 0.57], [24.48, 0.7], [30.71, 0.81], [36.92, 0.9], [43.13, 0.98], [49.33, 1.05], [55.52, 1.12], [61.71, 1.18], [67.89, 1.25], [74.07, 1.32], [80.26, 1.4], [86.43, 1.51], [92.61, 1.63], [98.78, 1.78], [104.94, 1.95], [111.11, 2.16], [117.26, 2.39], [123.41, 2.65], [129.56, 2.93], [135.71, 3.24], [141.86, 3.57], [148.0, 3.91], [154.15, 4.25]], "wrong_speed": [[6.18, 0.15], [12.33, 0.28], [18.41, 0.41], [24.23, 0.51], [29.6, 0.61], [34.48, 0.68], [38.89, 0.73], [42.97, 0.77], [46.96, 0.84], [51.12, 0.89], [55.64, 0.94], [60.5, 1.01], [65.44, 1.09], [70.37, 1.15], [75.32, 1.23], [80.27, 1.33], [85.2, 1.46], [90.13, 1.59], [95.07, 1.73], [99.99, 1.88], [104.92, 2.07], [109.85, 2.26], [114.77, 2.46], [119.69, 2.69], [124.6, 2.93]], "crash": [[6.15, 0.17], [12.3, 0.35], [18.43, 0.55], [24.54, 0.77], [30.64, 1.02], [36.72, 1.29], [42.79, 1.58], [48.83, 1.9], [54.85, 2.26], [60.85, 2.65], [66.83, 3.11], [72.79, 3.64], [78.74, 4.25], [84.67, 4.92], [90.6, 5.61], [96.53, 6.26], [102.46, 6.87], [108.41, 7.43], [114.37, 7.92], [120.35, 8.34], [126.34, 8.67], [132.36, 8.93], [138.39, 9.13], [144.44, 9.29], [150.52, 9.42]]}, "reasoning_english": {"situational_awareness": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "to perform a lane change", "steering_first_3s": "steer slightly to the right", "reason_steering_first_3s": "to perform a smooth lane change to the right lane", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the lane change", "steering_last_2s": "steer slightly to the left", "reason_steering_last_2s": "to center the car in the right lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c381b6"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "to perform a lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381b7"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the right", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to perform a smooth lane change to the right lane"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381b8"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381b9"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the left", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the right lane"}]}, "reasoning_spanish": {"situational_awareness": "Voy por el carril central de una autov\u00eda adelantando a un cami\u00f3n y, despu\u00e9s, el carril derecho queda totalmente libre.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque es una velocidad adecuada", "steering_first_3s": "voy a girar ligeramente a la derecha", "reason_steering_first_3s": "para comenzar la maniobra de cambio de carril", "acceleration_last_2s": "voy a mantener la velocidad", "reason_acceleration_last_2s": "porque es una velocidad adecuada", "steering_last_2s": "voy a girar ligeramente a la izquierda", "reason_steering_last_2s": "para centrar el coche en el carril derecho"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c381ba"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381bb"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la derecha", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para comenzar la maniobra de cambio de carril"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381bc"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381bd"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la izquierda", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "para centrar el coche en el carril derecho"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u6761\u4e09\u8f66\u9053\u9ad8\u901f\u516c\u8def\u7684\u4e2d\u95f4\u8f66\u9053\uff0c\u524d\u65b9\u5f88\u7a7a\u65f7\u3002\u6211\u521a\u521a\u8d85\u8fc7\u53f3\u8fb9\u7684\u4e00\u8f86\u5361\u8f66\u3002\u6211\u7684\u53f3\u8fb9\u8f66\u9053\u524d\u65b9\u5f88\u7a7a\u65f7\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u8981\u5411\u53f3\u53d8\u9053\uff0c\u6211\u7684\u8f66\u901f\u5df2\u7ecf\u6bd4\u53f3\u540e\u65b9\u7684\u5361\u8f66\u5feb\uff0c\u53ef\u4ee5\u5728\u53d8\u9053\u540e\u548c\u5b83\u62c9\u5f00\u5b89\u5168\u8ddd\u79bb\uff0c\u540c\u65f6\u76ee\u6807\u8f66\u9053\u524d\u65b9\u4e5f\u5f88\u7a7a\u65f7\uff0c\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u4ee5\u5b8c\u6210\u53d8\u9053\u3002", "steering_first_3s": "\u6211\u5c06\u7a0d\u5fae\u5411\u53f3\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u5411\u53f3\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u53f3\u6253\u65b9\u5411\u8fdb\u884c\u53d8\u9053\u64cd\u4f5c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002", "steering_last_2s": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c381be"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u8981\u5411\u53f3\u53d8\u9053\uff0c\u6211\u7684\u8f66\u901f\u5df2\u7ecf\u6bd4\u53f3\u540e\u65b9\u7684\u5361\u8f66\u5feb\uff0c\u53ef\u4ee5\u5728\u53d8\u9053\u540e\u548c\u5b83\u62c9\u5f00\u5b89\u5168\u8ddd\u79bb\uff0c\u540c\u65f6\u76ee\u6807\u8f66\u9053\u524d\u65b9\u4e5f\u5f88\u7a7a\u65f7\uff0c\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u4ee5\u5b8c\u6210\u53d8\u9053\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381bf"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u53f3\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5411\u53f3\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u53f3\u6253\u65b9\u5411\u8fdb\u884c\u53d8\u9053\u64cd\u4f5c\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381c0"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c381c1"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: use right lane. What do you notice?", "answer": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "to perform a lane change"}, {"question": "In the next 3 seconds, why are you going to steer slightly to the right?", "answer": "to perform a smooth lane change to the right lane"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the lane change"}, {"question": "In the last 2 seconds, why are you going to steer slightly to the left?", "answer": "to center the car in the right lane"}], "reasoning_cot_english_reconstructed": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.\nAcceleration 0s - 3s: maintain the current speed to perform a lane change.\nSteering 0s - 3s: steer slightly to the right to perform a smooth lane change to the right lane.\nAcceleration 3s - 5s: maintain the current speed to finish the lane change.\nSteering 3s - 5s: steer slightly to the left to center the car in the right lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T17:47:41.483Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3682146, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}, "qwen_emb_front": {"$binary": {"base64": 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"subType": "00"}}, "uniqueness_front": 0.55924593137089, "representativeness_front": 0.6099943518638611, "scene_3d": "/home/harpreet/fiftyone/huggingface/hub/harpreetsahota/KITScenes-LongTail/data/front-3_scene.fo3d"},{"_id": {"$oid": "6a3b6e6f43a442f472c38289"}, "filepath": "data/front_right-3.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9990380964546778, "group": {"_id": {"$oid": "6a3b6e6f43a442f472c381a5"}, "_cls": "Group", "name": "front_right"}, "scenario_id": "0000402", "split": "train", "camera": "front_right", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6f43a442f472c38223"}, "_cls": "Classification", "tags": [], "label": "use right lane"}, "scenario_type": {"_id": {"$oid": "6a3b6e6f43a442f472c38224"}, "_cls": "Classification", "tags": [], "label": "3 overtake or lane change"}, "trajectory_bev": {"past": [[-123.42, -4.99], [-121.2, -4.9], [-117.64, -4.77], [-112.92, -4.59], [-107.25, 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[109.85, 2.26], [114.77, 2.46], [119.69, 2.69], [124.6, 2.93]], "crash": [[6.15, 0.17], [12.3, 0.35], [18.43, 0.55], [24.54, 0.77], [30.64, 1.02], [36.72, 1.29], [42.79, 1.58], [48.83, 1.9], [54.85, 2.26], [60.85, 2.65], [66.83, 3.11], [72.79, 3.64], [78.74, 4.25], [84.67, 4.92], [90.6, 5.61], [96.53, 6.26], [102.46, 6.87], [108.41, 7.43], [114.37, 7.92], [120.35, 8.34], [126.34, 8.67], [132.36, 8.93], [138.39, 9.13], [144.44, 9.29], [150.52, 9.42]]}, "reasoning_english": {"situational_awareness": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "to perform a lane change", "steering_first_3s": "steer slightly to the right", "reason_steering_first_3s": "to perform a smooth lane change to the right lane", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the lane change", "steering_last_2s": "steer slightly to the left", "reason_steering_last_2s": "to center the car in the right lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c38225"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "to perform a lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38226"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the right", "support": 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"steering_last_2s": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c3822d"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u8981\u5411\u53f3\u53d8\u9053\uff0c\u6211\u7684\u8f66\u901f\u5df2\u7ecf\u6bd4\u53f3\u540e\u65b9\u7684\u5361\u8f66\u5feb\uff0c\u53ef\u4ee5\u5728\u53d8\u9053\u540e\u548c\u5b83\u62c9\u5f00\u5b89\u5168\u8ddd\u79bb\uff0c\u540c\u65f6\u76ee\u6807\u8f66\u9053\u524d\u65b9\u4e5f\u5f88\u7a7a\u65f7\uff0c\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u4ee5\u5b8c\u6210\u53d8\u9053\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3822e"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u53f3\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5411\u53f3\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u53f3\u6253\u65b9\u5411\u8fdb\u884c\u53d8\u9053\u64cd\u4f5c\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3822f"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38230"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: use right lane. What do you notice?", "answer": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "to perform a lane change"}, {"question": "In the next 3 seconds, why are you going to steer slightly to the right?", "answer": "to perform a smooth lane change to the right lane"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the lane change"}, {"question": "In the last 2 seconds, why are you going to steer slightly to the left?", "answer": "to center the car in the right lane"}], "reasoning_cot_english_reconstructed": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.\nAcceleration 0s - 3s: maintain the current speed to perform a lane change.\nSteering 0s - 3s: steer slightly to the right to perform a smooth lane change to the right lane.\nAcceleration 3s - 5s: maintain the current speed to finish the lane change.\nSteering 3s - 5s: steer slightly to the left to center the car in the right lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3575969, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6f43a442f472c3828a"}, "filepath": "data/rear_left-3.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9999420090171778, "group": {"_id": {"$oid": "6a3b6e6f43a442f472c381a5"}, "_cls": "Group", "name": "rear_left"}, "scenario_id": "0000402", "split": "train", "camera": "rear_left", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6f43a442f472c38231"}, "_cls": "Classification", "tags": [], "label": "use right lane"}, "scenario_type": {"_id": {"$oid": "6a3b6e6f43a442f472c38232"}, "_cls": "Classification", "tags": [], "label": "3 overtake or lane change"}, "trajectory_bev": {"past": [[-123.42, -4.99], [-121.2, -4.9], [-117.64, -4.77], [-112.92, -4.59], [-107.25, -4.37], [-100.9, -4.12], [-94.15, -3.84], [-87.2, -3.54], [-80.19, -3.23], [-73.19, -2.92], [-66.24, -2.59], [-59.37, -2.27], [-52.58, -1.95], [-45.87, -1.64], [-39.23, -1.34], [-32.66, -1.05], [-26.16, -0.78], [-19.71, -0.54], [-13.3, -0.31], [-6.93, -0.1], [-0.6, 0.1]], "expert_like": [[5.7, 0.27], [11.97, 0.43], [18.23, 0.57], [24.48, 0.7], [30.71, 0.81], [36.92, 0.9], [43.13, 0.98], [49.33, 1.05], [55.52, 1.12], [61.71, 1.18], [67.89, 1.25], [74.07, 1.32], [80.26, 1.4], [86.43, 1.51], [92.61, 1.63], [98.78, 1.78], [104.94, 1.95], [111.11, 2.16], [117.26, 2.39], [123.41, 2.65], [129.56, 2.93], [135.71, 3.24], [141.86, 3.57], [148.0, 3.91], [154.15, 4.25]], "wrong_speed": [[6.18, 0.15], [12.33, 0.28], [18.41, 0.41], [24.23, 0.51], [29.6, 0.61], [34.48, 0.68], [38.89, 0.73], [42.97, 0.77], [46.96, 0.84], [51.12, 0.89], [55.64, 0.94], [60.5, 1.01], [65.44, 1.09], [70.37, 1.15], [75.32, 1.23], [80.27, 1.33], [85.2, 1.46], [90.13, 1.59], [95.07, 1.73], [99.99, 1.88], [104.92, 2.07], [109.85, 2.26], [114.77, 2.46], [119.69, 2.69], [124.6, 2.93]], "crash": [[6.15, 0.17], [12.3, 0.35], [18.43, 0.55], [24.54, 0.77], [30.64, 1.02], [36.72, 1.29], [42.79, 1.58], [48.83, 1.9], [54.85, 2.26], [60.85, 2.65], [66.83, 3.11], [72.79, 3.64], [78.74, 4.25], [84.67, 4.92], [90.6, 5.61], [96.53, 6.26], [102.46, 6.87], [108.41, 7.43], [114.37, 7.92], [120.35, 8.34], [126.34, 8.67], [132.36, 8.93], [138.39, 9.13], [144.44, 9.29], [150.52, 9.42]]}, "reasoning_english": {"situational_awareness": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "to perform a lane change", "steering_first_3s": "steer slightly to the right", "reason_steering_first_3s": "to perform a smooth lane change to the right lane", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the lane change", "steering_last_2s": "steer slightly to the left", "reason_steering_last_2s": "to center the car in the right lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c38233"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "to perform a lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38234"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the right", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to perform a smooth lane change to the right lane"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38235"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38236"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the left", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the right lane"}]}, "reasoning_spanish": {"situational_awareness": "Voy por el carril central de una autov\u00eda adelantando a un cami\u00f3n y, despu\u00e9s, el carril derecho queda totalmente libre.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque es una velocidad adecuada", "steering_first_3s": "voy a girar ligeramente a la derecha", "reason_steering_first_3s": "para comenzar la maniobra de cambio de carril", "acceleration_last_2s": "voy a mantener la velocidad", "reason_acceleration_last_2s": "porque es una velocidad adecuada", "steering_last_2s": "voy a girar ligeramente a la izquierda", "reason_steering_last_2s": "para centrar el coche en el carril derecho"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c38237"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38238"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la derecha", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para comenzar la maniobra de cambio de carril"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38239"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3823a"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la izquierda", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "para centrar el coche en el carril derecho"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u6761\u4e09\u8f66\u9053\u9ad8\u901f\u516c\u8def\u7684\u4e2d\u95f4\u8f66\u9053\uff0c\u524d\u65b9\u5f88\u7a7a\u65f7\u3002\u6211\u521a\u521a\u8d85\u8fc7\u53f3\u8fb9\u7684\u4e00\u8f86\u5361\u8f66\u3002\u6211\u7684\u53f3\u8fb9\u8f66\u9053\u524d\u65b9\u5f88\u7a7a\u65f7\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u8981\u5411\u53f3\u53d8\u9053\uff0c\u6211\u7684\u8f66\u901f\u5df2\u7ecf\u6bd4\u53f3\u540e\u65b9\u7684\u5361\u8f66\u5feb\uff0c\u53ef\u4ee5\u5728\u53d8\u9053\u540e\u548c\u5b83\u62c9\u5f00\u5b89\u5168\u8ddd\u79bb\uff0c\u540c\u65f6\u76ee\u6807\u8f66\u9053\u524d\u65b9\u4e5f\u5f88\u7a7a\u65f7\uff0c\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u4ee5\u5b8c\u6210\u53d8\u9053\u3002", "steering_first_3s": "\u6211\u5c06\u7a0d\u5fae\u5411\u53f3\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u5411\u53f3\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u53f3\u6253\u65b9\u5411\u8fdb\u884c\u53d8\u9053\u64cd\u4f5c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002", "steering_last_2s": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c3823b"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u8981\u5411\u53f3\u53d8\u9053\uff0c\u6211\u7684\u8f66\u901f\u5df2\u7ecf\u6bd4\u53f3\u540e\u65b9\u7684\u5361\u8f66\u5feb\uff0c\u53ef\u4ee5\u5728\u53d8\u9053\u540e\u548c\u5b83\u62c9\u5f00\u5b89\u5168\u8ddd\u79bb\uff0c\u540c\u65f6\u76ee\u6807\u8f66\u9053\u524d\u65b9\u4e5f\u5f88\u7a7a\u65f7\uff0c\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u4ee5\u5b8c\u6210\u53d8\u9053\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3823c"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u53f3\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5411\u53f3\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u53f3\u6253\u65b9\u5411\u8fdb\u884c\u53d8\u9053\u64cd\u4f5c\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3823d"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3823e"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: use right lane. What do you notice?", "answer": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "to perform a lane change"}, {"question": "In the next 3 seconds, why are you going to steer slightly to the right?", "answer": "to perform a smooth lane change to the right lane"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the lane change"}, {"question": "In the last 2 seconds, why are you going to steer slightly to the left?", "answer": "to center the car in the right lane"}], "reasoning_cot_english_reconstructed": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.\nAcceleration 0s - 3s: maintain the current speed to perform a lane change.\nSteering 0s - 3s: steer slightly to the right to perform a smooth lane change to the right lane.\nAcceleration 3s - 5s: maintain the current speed to finish the lane change.\nSteering 3s - 5s: steer slightly to the left to center the car in the right lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 5134272, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3b6e6f43a442f472c3828b"}, "filepath": "data/rear-3.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9999355995927737, "group": {"_id": {"$oid": "6a3b6e6f43a442f472c381a5"}, "_cls": "Group", "name": "rear"}, "scenario_id": "0000402", "split": "train", "camera": "rear", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6f43a442f472c3823f"}, "_cls": "Classification", "tags": [], "label": "use right lane"}, "scenario_type": {"_id": {"$oid": "6a3b6e6f43a442f472c38240"}, "_cls": "Classification", "tags": [], "label": "3 overtake or lane change"}, "trajectory_bev": {"past": [[-123.42, -4.99], [-121.2, -4.9], [-117.64, -4.77], [-112.92, -4.59], [-107.25, -4.37], [-100.9, -4.12], [-94.15, -3.84], [-87.2, -3.54], [-80.19, -3.23], [-73.19, -2.92], [-66.24, -2.59], [-59.37, -2.27], [-52.58, -1.95], [-45.87, -1.64], [-39.23, -1.34], [-32.66, -1.05], [-26.16, -0.78], [-19.71, -0.54], [-13.3, -0.31], [-6.93, -0.1], [-0.6, 0.1]], "expert_like": [[5.7, 0.27], [11.97, 0.43], [18.23, 0.57], [24.48, 0.7], [30.71, 0.81], [36.92, 0.9], [43.13, 0.98], [49.33, 1.05], [55.52, 1.12], [61.71, 1.18], [67.89, 1.25], [74.07, 1.32], [80.26, 1.4], [86.43, 1.51], [92.61, 1.63], [98.78, 1.78], [104.94, 1.95], [111.11, 2.16], [117.26, 2.39], [123.41, 2.65], [129.56, 2.93], [135.71, 3.24], [141.86, 3.57], [148.0, 3.91], [154.15, 4.25]], "wrong_speed": [[6.18, 0.15], [12.33, 0.28], [18.41, 0.41], [24.23, 0.51], [29.6, 0.61], [34.48, 0.68], [38.89, 0.73], [42.97, 0.77], [46.96, 0.84], [51.12, 0.89], [55.64, 0.94], [60.5, 1.01], [65.44, 1.09], [70.37, 1.15], [75.32, 1.23], [80.27, 1.33], [85.2, 1.46], [90.13, 1.59], [95.07, 1.73], [99.99, 1.88], [104.92, 2.07], [109.85, 2.26], [114.77, 2.46], [119.69, 2.69], [124.6, 2.93]], "crash": [[6.15, 0.17], [12.3, 0.35], [18.43, 0.55], [24.54, 0.77], [30.64, 1.02], [36.72, 1.29], [42.79, 1.58], [48.83, 1.9], [54.85, 2.26], [60.85, 2.65], [66.83, 3.11], [72.79, 3.64], [78.74, 4.25], [84.67, 4.92], [90.6, 5.61], [96.53, 6.26], [102.46, 6.87], [108.41, 7.43], [114.37, 7.92], [120.35, 8.34], [126.34, 8.67], [132.36, 8.93], [138.39, 9.13], [144.44, 9.29], [150.52, 9.42]]}, "reasoning_english": {"situational_awareness": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "to perform a lane change", "steering_first_3s": "steer slightly to the right", "reason_steering_first_3s": "to perform a smooth lane change to the right lane", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the lane change", "steering_last_2s": "steer slightly to the left", "reason_steering_last_2s": "to center the car in the right lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c38241"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "to perform a lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38242"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the right", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to perform a smooth lane change to the right lane"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38243"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38244"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the left", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the right lane"}]}, "reasoning_spanish": {"situational_awareness": "Voy por el carril central de una autov\u00eda adelantando a un cami\u00f3n y, despu\u00e9s, el carril derecho queda totalmente libre.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque es una velocidad adecuada", "steering_first_3s": "voy a girar ligeramente a la derecha", "reason_steering_first_3s": "para comenzar la maniobra de cambio de carril", "acceleration_last_2s": "voy a mantener la velocidad", "reason_acceleration_last_2s": "porque es una velocidad adecuada", "steering_last_2s": "voy a girar ligeramente a la izquierda", "reason_steering_last_2s": "para centrar el coche en el carril derecho"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c38245"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38246"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la derecha", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para comenzar la maniobra de cambio de carril"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38247"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38248"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la izquierda", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "para centrar el coche en el carril derecho"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u6761\u4e09\u8f66\u9053\u9ad8\u901f\u516c\u8def\u7684\u4e2d\u95f4\u8f66\u9053\uff0c\u524d\u65b9\u5f88\u7a7a\u65f7\u3002\u6211\u521a\u521a\u8d85\u8fc7\u53f3\u8fb9\u7684\u4e00\u8f86\u5361\u8f66\u3002\u6211\u7684\u53f3\u8fb9\u8f66\u9053\u524d\u65b9\u5f88\u7a7a\u65f7\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u8981\u5411\u53f3\u53d8\u9053\uff0c\u6211\u7684\u8f66\u901f\u5df2\u7ecf\u6bd4\u53f3\u540e\u65b9\u7684\u5361\u8f66\u5feb\uff0c\u53ef\u4ee5\u5728\u53d8\u9053\u540e\u548c\u5b83\u62c9\u5f00\u5b89\u5168\u8ddd\u79bb\uff0c\u540c\u65f6\u76ee\u6807\u8f66\u9053\u524d\u65b9\u4e5f\u5f88\u7a7a\u65f7\uff0c\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u4ee5\u5b8c\u6210\u53d8\u9053\u3002", "steering_first_3s": "\u6211\u5c06\u7a0d\u5fae\u5411\u53f3\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u5411\u53f3\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u53f3\u6253\u65b9\u5411\u8fdb\u884c\u53d8\u9053\u64cd\u4f5c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002", "steering_last_2s": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c38249"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u8981\u5411\u53f3\u53d8\u9053\uff0c\u6211\u7684\u8f66\u901f\u5df2\u7ecf\u6bd4\u53f3\u540e\u65b9\u7684\u5361\u8f66\u5feb\uff0c\u53ef\u4ee5\u5728\u53d8\u9053\u540e\u548c\u5b83\u62c9\u5f00\u5b89\u5168\u8ddd\u79bb\uff0c\u540c\u65f6\u76ee\u6807\u8f66\u9053\u524d\u65b9\u4e5f\u5f88\u7a7a\u65f7\uff0c\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u4ee5\u5b8c\u6210\u53d8\u9053\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3824a"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u53f3\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5411\u53f3\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u53f3\u6253\u65b9\u5411\u8fdb\u884c\u53d8\u9053\u64cd\u4f5c\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3824b"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3824c"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: use right lane. What do you notice?", "answer": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "to perform a lane change"}, {"question": "In the next 3 seconds, why are you going to steer slightly to the right?", "answer": "to perform a smooth lane change to the right lane"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the lane change"}, {"question": "In the last 2 seconds, why are you going to steer slightly to the left?", "answer": "to center the car in the right lane"}], "reasoning_cot_english_reconstructed": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.\nAcceleration 0s - 3s: maintain the current speed to perform a lane change.\nSteering 0s - 3s: steer slightly to the right to perform a smooth lane change to the right lane.\nAcceleration 3s - 5s: maintain the current speed to finish the lane change.\nSteering 3s - 5s: steer slightly to the left to center the car in the right lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:10:09.743Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3508900, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}, "qwen_emb_rear": {"$binary": {"base64": 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"subType": "00"}}, "uniqueness_rear": 0.5437828356630334, "representativeness_rear": 0.7843930721282959},{"_id": {"$oid": "6a3b6e6f43a442f472c3828c"}, "filepath": "data/rear_right-3.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.999263673920469, "group": {"_id": {"$oid": "6a3b6e6f43a442f472c381a5"}, "_cls": "Group", "name": "rear_right"}, "scenario_id": "0000402", "split": "train", "camera": "rear_right", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3b6e6f43a442f472c38279"}, "_cls": "Classification", "tags": [], "label": "use right lane"}, "scenario_type": {"_id": {"$oid": "6a3b6e6f43a442f472c3827a"}, "_cls": "Classification", "tags": [], "label": "3 overtake or lane change"}, "trajectory_bev": {"past": [[-123.42, -4.99], [-121.2, -4.9], [-117.64, -4.77], [-112.92, -4.59], [-107.25, -4.37], [-100.9, -4.12], [-94.15, -3.84], [-87.2, -3.54], [-80.19, -3.23], [-73.19, -2.92], [-66.24, -2.59], [-59.37, -2.27], [-52.58, -1.95], [-45.87, -1.64], [-39.23, -1.34], [-32.66, -1.05], [-26.16, -0.78], [-19.71, -0.54], [-13.3, -0.31], [-6.93, -0.1], [-0.6, 0.1]], "expert_like": [[5.7, 0.27], [11.97, 0.43], [18.23, 0.57], [24.48, 0.7], [30.71, 0.81], [36.92, 0.9], [43.13, 0.98], [49.33, 1.05], [55.52, 1.12], [61.71, 1.18], [67.89, 1.25], [74.07, 1.32], [80.26, 1.4], [86.43, 1.51], [92.61, 1.63], [98.78, 1.78], [104.94, 1.95], [111.11, 2.16], [117.26, 2.39], [123.41, 2.65], [129.56, 2.93], [135.71, 3.24], [141.86, 3.57], [148.0, 3.91], [154.15, 4.25]], "wrong_speed": [[6.18, 0.15], [12.33, 0.28], [18.41, 0.41], [24.23, 0.51], [29.6, 0.61], [34.48, 0.68], [38.89, 0.73], [42.97, 0.77], [46.96, 0.84], [51.12, 0.89], [55.64, 0.94], [60.5, 1.01], [65.44, 1.09], [70.37, 1.15], [75.32, 1.23], [80.27, 1.33], [85.2, 1.46], [90.13, 1.59], [95.07, 1.73], [99.99, 1.88], [104.92, 2.07], [109.85, 2.26], [114.77, 2.46], [119.69, 2.69], [124.6, 2.93]], "crash": [[6.15, 0.17], [12.3, 0.35], [18.43, 0.55], [24.54, 0.77], [30.64, 1.02], [36.72, 1.29], [42.79, 1.58], [48.83, 1.9], [54.85, 2.26], [60.85, 2.65], [66.83, 3.11], [72.79, 3.64], [78.74, 4.25], [84.67, 4.92], [90.6, 5.61], [96.53, 6.26], [102.46, 6.87], [108.41, 7.43], [114.37, 7.92], [120.35, 8.34], [126.34, 8.67], [132.36, 8.93], [138.39, 9.13], [144.44, 9.29], [150.52, 9.42]]}, "reasoning_english": {"situational_awareness": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "to perform a lane change", "steering_first_3s": "steer slightly to the right", "reason_steering_first_3s": "to perform a smooth lane change to the right lane", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the lane change", "steering_last_2s": "steer slightly to the left", "reason_steering_last_2s": "to center the car in the right lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c3827b"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "to perform a lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3827c"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the right", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to perform a smooth lane change to the right lane"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3827d"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the lane change"}, {"_id": {"$oid": "6a3b6e6f43a442f472c3827e"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the left", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the right lane"}]}, "reasoning_spanish": {"situational_awareness": "Voy por el carril central de una autov\u00eda adelantando a un cami\u00f3n y, despu\u00e9s, el carril derecho queda totalmente libre.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque es una velocidad adecuada", "steering_first_3s": "voy a girar ligeramente a la derecha", "reason_steering_first_3s": "para comenzar la maniobra de cambio de carril", "acceleration_last_2s": "voy a mantener la velocidad", "reason_acceleration_last_2s": "porque es una velocidad adecuada", "steering_last_2s": "voy a girar ligeramente a la izquierda", "reason_steering_last_2s": "para centrar el coche en el carril derecho"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3b6e6f43a442f472c3827f"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38280"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la derecha", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para comenzar la maniobra de cambio de carril"}, {"_id": {"$oid": "6a3b6e6f43a442f472c38281"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": 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Your instruction is: use right lane. What do you notice?", "answer": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "to perform a lane change"}, {"question": "In the next 3 seconds, why are you going to steer slightly to the right?", "answer": "to perform a smooth lane change to the right lane"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the lane change"}, {"question": "In the last 2 seconds, why are you going to steer slightly to the left?", "answer": "to center the car in the right lane"}], "reasoning_cot_english_reconstructed": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.\nAcceleration 0s - 3s: maintain the current speed to perform a lane change.\nSteering 0s - 3s: steer slightly to the right to perform a smooth lane change to the right lane.\nAcceleration 3s - 5s: maintain the current speed to finish the lane change.\nSteering 3s - 5s: steer slightly to the left to center the car in the right lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:04:26.028Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3700985, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 1244, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}},{"_id": {"$oid": "6a3bec2851b113c499206131"}, "filepath": "data/front_left-4.mp4", "tags": ["test"], "_media_type": "video", "_rand": 0.9992932530553535, "group": {"_id": {"$oid": "6a3bec2351b113c499206114"}, 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There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already slightly decelerated to make a left turn", "steering_first_3s": "steer to the left", "reason_steering_first_3s": "to make a left turn", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the left turn", "steering_last_2s": "steer straight", "reason_steering_last_2s": "to center the car in the lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3bf31d77cf85b227767e50"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already slightly decelerated to make a left turn"}, {"_id": {"$oid": "6a3bf31d77cf85b227767e51"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the left", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to make a left turn"}, {"_id": {"$oid": "6a3bf31d77cf85b227767e52"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the left turn"}, {"_id": {"$oid": "6a3bf31d77cf85b227767e53"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the lane"}]}, "reasoning_spanish": {"situational_awareness": "Quiero salirme de mi carretera hacia otra y veo que por el carril contrario no voy a tener problema porque tengo suficiente espacio con el coche que viene de frente.", "acceleration_first_3s": "voy a mantener la velocidad actual", "reason_acceleration_first_3s": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante", "steering_first_3s": "voy a girar a la izquierda", "reason_steering_first_3s": "para salirme a la nueva vida", "acceleration_last_2s": "voy a mantener la velocidad actual", "reason_acceleration_last_2s": "porque no puedo ir m\u00e1s r\u00e1pido", "steering_last_2s": "voy a seguir recto", "reason_steering_last_2s": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3bf31d77cf85b227767e54"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante"}, {"_id": {"$oid": "6a3bf31d77cf85b227767e55"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la izquierda", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para salirme a la nueva vida"}, {"_id": {"$oid": "6a3bf31d77cf85b227767e56"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque no puedo ir m\u00e1s r\u00e1pido"}, {"_id": {"$oid": "6a3bf31d77cf85b227767e57"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u90ca\u533a\u4e01\u5b57\u8def\u53e3\u7684\u5de6\u8f6c\u8f66\u9053\u4e0a\uff0c\u6b63\u5728\u8ddf\u968f\u524d\u65b9\u8f66\u8f86\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_first_3s": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_last_2s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3bf31d77cf85b227767e58"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3bf31d77cf85b227767e59"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3bf31d77cf85b227767e5a"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3bf31d77cf85b227767e5b"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn left. What do you notice?", "answer": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already slightly decelerated to make a left turn"}, {"question": "In the next 3 seconds, why are you going to steer to the left?", "answer": "to make a left turn"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the left turn"}, {"question": "In the last 2 seconds, why are you going to steer straight?", "answer": "to center the car in the lane"}], "reasoning_cot_english_reconstructed": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.\nAcceleration 0s - 3s: maintain the current speed since I have already slightly decelerated to make a left turn.\nSteering 0s - 3s: steer to the left to make a left turn.\nAcceleration 3s - 5s: maintain the current speed to finish the left turn.\nSteering 3s - 5s: steer straight to center the car in the lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:08:00.679Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3846727, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 828, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}, "qwen_emb_surround": {"$binary": {"base64": 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0.21], [-6.41, 0.09], [-5.16, -0.03], [-3.96, -0.11], [-2.8, -0.17], [-1.69, -0.21], [-0.64, -0.23], [0.36, -0.21]], "expert_like": [[1.3, -0.17], [2.21, -0.11], [3.07, -0.04], [3.91, 0.06], [4.72, 0.17], [5.51, 0.3], [6.3, 0.42], [7.07, 0.55], [7.86, 0.69], [8.65, 0.82], [9.48, 0.97], [10.34, 1.11], [11.25, 1.24], [12.23, 1.37], [13.26, 1.5], [14.34, 1.58], [15.5, 1.64], [16.71, 1.66], [17.98, 1.61], [19.29, 1.5], [20.65, 1.32], [22.05, 1.07], [23.47, 0.77], [24.91, 0.42], [26.4, 0.05]], "wrong_speed": [[0.89, 0.05], [1.77, 0.13], [2.59, 0.2], [3.37, 0.3], [4.09, 0.41], [4.73, 0.5], [5.32, 0.57], [5.87, 0.62], [6.39, 0.71], [6.95, 0.79], [7.57, 0.87], [8.24, 0.95], [8.96, 1.07], [9.71, 1.17], [10.48, 1.25], [11.28, 1.32], [12.17, 1.44], [13.06, 1.52], [13.97, 1.56], [14.92, 1.56], [15.91, 1.57], [16.94, 1.52], [17.98, 1.42], [19.04, 1.28], [20.12, 1.1]], "off_road": [[0.94, 0.08], [1.87, 0.14], [2.81, 0.16], [3.76, 0.16], [4.71, 0.13], [5.68, 0.08], [6.66, 0.01], [7.65, -0.07], [8.65, -0.17], [9.68, -0.27], [10.72, -0.38], [11.77, -0.49], [12.84, -0.59], [13.93, -0.7], [15.04, -0.8], [16.16, -0.9], [17.3, -0.99], [18.46, -1.07], [19.63, -1.15], [20.82, -1.23], [22.02, -1.3], [23.24, -1.36], [24.47, -1.42], [25.72, -1.49], [26.98, -1.55]]}, "reasoning_english": {"situational_awareness": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already decelerated to enter the roundabout", "steering_first_3s": "steer straight", "reason_steering_first_3s": "to enter the roundabout", "acceleration_last_2s": "accelerate slightly", "reason_acceleration_last_2s": "to reach a normal driving speed in an urban environment", "steering_last_2s": "steer to the right", "reason_steering_last_2s": "to follow my instruction and exit the roundabout with a right turn"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3bf31e77cf85b227767e5e"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already decelerated to enter the roundabout"}, {"_id": {"$oid": "6a3bf31e77cf85b227767e5f"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to enter the roundabout"}, {"_id": {"$oid": "6a3bf31e77cf85b227767e60"}, "_cls": "TemporalDetection", "tags": [], "label": "accelerate slightly", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to reach a normal driving speed in an urban environment"}, {"_id": {"$oid": "6a3bf31e77cf85b227767e61"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the right", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to follow my instruction and exit the roundabout with a right turn"}]}, "reasoning_spanish": {"situational_awareness": "Me aproximo una rotonda donde ya hay coches en ella y de frente quieren entrar muchos.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque no tengo que ceder el paso a nadie para entrar en la rotonda", "steering_first_3s": "voy a seguir recto porque", "reason_steering_first_3s": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda", "acceleration_last_2s": "voy a acelerar ligeramente", "reason_acceleration_last_2s": "porque al salir de la rotonda tengo que ganar velocidad", "steering_last_2s": "voy a girar a la derecha", "reason_steering_last_2s": "por la forma de la carretera"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3bf31e77cf85b227767e62"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque no tengo que ceder el paso a nadie para entrar en la rotonda"}, {"_id": {"$oid": "6a3bf31e77cf85b227767e63"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto porque", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda"}, {"_id": {"$oid": "6a3bf31e77cf85b227767e64"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a acelerar ligeramente", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque al salir de la rotonda tengo que ganar velocidad"}, {"_id": {"$oid": "6a3bf31e77cf85b227767e65"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la derecha", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "por la forma de la carretera"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u57ce\u5e02\u5c45\u6c11\u5c45\u533a\u7684\u73af\u5c9b\u5165\u53e3\uff0c\u73af\u5c9b\u5185\u6709\u4e24\u8f86\u8f66\u4f46\u90fd\u4e0d\u5f71\u54cd\u6211\u901a\u884c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002", "steering_first_3s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_first_3s": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002", "acceleration_last_2s": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002", "steering_last_2s": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3bf31e77cf85b227767e66"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3bf31e77cf85b227767e67"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3bf31e77cf85b227767e68"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3bf31e77cf85b227767e69"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn right. What do you notice?", "answer": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already decelerated to enter the roundabout"}, {"question": "In the next 3 seconds, why are you going to steer straight?", "answer": "to enter the roundabout"}, {"question": "In the last 2 seconds, why are you going to accelerate slightly?", "answer": "to reach a normal driving speed in an urban environment"}, {"question": "In the last 2 seconds, why are you going to steer to the right?", "answer": "to follow my instruction and exit the roundabout with a right turn"}], "reasoning_cot_english_reconstructed": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.\nAcceleration 0s - 3s: maintain the current speed since I have already decelerated to enter the roundabout.\nSteering 0s - 3s: steer straight to enter the roundabout.\nAcceleration 3s - 5s: accelerate slightly to reach a normal driving speed in an urban environment.\nSteering 3s - 5s: steer to the right to follow my instruction and exit the roundabout with a right turn.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:08:00.679Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 2348910, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 828, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}, "qwen_emb_surround": {"$binary": {"base64": 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"subType": "00"}}, "uniqueness_surround": 0.5258776723376023, "representativeness_surround": 1.0},{"_id": {"$oid": "6a3bf36077cf85b227767f42"}, "filepath": "data/surround-3.mp4", "tags": ["train"], "_media_type": "video", "_rand": 0.9990918974470364, "group": {"_id": {"$oid": "6a3b6e6f43a442f472c381a5"}, "_cls": "Group", "name": "surround"}, "camera": "surround", "scenario_id": "0000402", "split": "train", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3bf31f77cf85b227767e6a"}, "_cls": "Classification", "tags": [], "label": "use right lane"}, "scenario_type": {"_id": {"$oid": "6a3bf31f77cf85b227767e6b"}, "_cls": "Classification", "tags": [], "label": "3 overtake or lane change"}, "trajectory_bev": {"past": [[-123.42, -4.99], [-121.2, -4.9], [-117.64, -4.77], [-112.92, -4.59], [-107.25, -4.37], [-100.9, -4.12], [-94.15, -3.84], [-87.2, -3.54], [-80.19, -3.23], [-73.19, -2.92], [-66.24, -2.59], [-59.37, -2.27], [-52.58, -1.95], [-45.87, -1.64], [-39.23, -1.34], [-32.66, -1.05], [-26.16, -0.78], [-19.71, -0.54], [-13.3, -0.31], [-6.93, -0.1], [-0.6, 0.1]], "expert_like": [[5.7, 0.27], [11.97, 0.43], [18.23, 0.57], [24.48, 0.7], [30.71, 0.81], [36.92, 0.9], [43.13, 0.98], [49.33, 1.05], [55.52, 1.12], [61.71, 1.18], [67.89, 1.25], [74.07, 1.32], [80.26, 1.4], [86.43, 1.51], [92.61, 1.63], [98.78, 1.78], [104.94, 1.95], [111.11, 2.16], [117.26, 2.39], [123.41, 2.65], [129.56, 2.93], [135.71, 3.24], [141.86, 3.57], [148.0, 3.91], [154.15, 4.25]], "wrong_speed": [[6.18, 0.15], [12.33, 0.28], [18.41, 0.41], [24.23, 0.51], [29.6, 0.61], [34.48, 0.68], [38.89, 0.73], [42.97, 0.77], [46.96, 0.84], [51.12, 0.89], [55.64, 0.94], [60.5, 1.01], [65.44, 1.09], [70.37, 1.15], [75.32, 1.23], [80.27, 1.33], [85.2, 1.46], [90.13, 1.59], [95.07, 1.73], [99.99, 1.88], [104.92, 2.07], [109.85, 2.26], [114.77, 2.46], [119.69, 2.69], [124.6, 2.93]], "crash": [[6.15, 0.17], [12.3, 0.35], [18.43, 0.55], [24.54, 0.77], [30.64, 1.02], [36.72, 1.29], [42.79, 1.58], [48.83, 1.9], [54.85, 2.26], [60.85, 2.65], [66.83, 3.11], [72.79, 3.64], [78.74, 4.25], [84.67, 4.92], [90.6, 5.61], [96.53, 6.26], [102.46, 6.87], [108.41, 7.43], [114.37, 7.92], [120.35, 8.34], [126.34, 8.67], [132.36, 8.93], [138.39, 9.13], [144.44, 9.29], [150.52, 9.42]]}, "reasoning_english": {"situational_awareness": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "to perform a lane change", "steering_first_3s": "steer slightly to the right", "reason_steering_first_3s": "to perform a smooth lane change to the right lane", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the lane change", "steering_last_2s": "steer slightly to the left", "reason_steering_last_2s": "to center the car in the right lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3bf31f77cf85b227767e6c"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "to perform a lane change"}, {"_id": {"$oid": "6a3bf31f77cf85b227767e6d"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the right", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to perform a smooth lane change to the right lane"}, {"_id": {"$oid": "6a3bf31f77cf85b227767e6e"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the lane change"}, {"_id": {"$oid": "6a3bf31f77cf85b227767e6f"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the left", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the right lane"}]}, "reasoning_spanish": {"situational_awareness": "Voy por el carril central de una autov\u00eda adelantando a un cami\u00f3n y, despu\u00e9s, el carril derecho queda totalmente libre.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque es una velocidad adecuada", "steering_first_3s": "voy a girar ligeramente a la derecha", "reason_steering_first_3s": "para comenzar la maniobra de cambio de carril", "acceleration_last_2s": "voy a mantener la velocidad", "reason_acceleration_last_2s": "porque es una velocidad adecuada", "steering_last_2s": "voy a girar ligeramente a la izquierda", "reason_steering_last_2s": "para centrar el coche en el carril derecho"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3bf31f77cf85b227767e70"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3bf31f77cf85b227767e71"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la derecha", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para comenzar la maniobra de cambio de carril"}, {"_id": {"$oid": "6a3bf31f77cf85b227767e72"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": 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"acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3bf31f77cf85b227767e77"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: use right lane. What do you notice?", "answer": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "to perform a lane change"}, {"question": "In the next 3 seconds, why are you going to steer slightly to the right?", "answer": "to perform a smooth lane change to the right lane"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the lane change"}, {"question": "In the last 2 seconds, why are you going to steer slightly to the left?", "answer": "to center the car in the right lane"}], "reasoning_cot_english_reconstructed": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.\nAcceleration 0s - 3s: maintain the current speed to perform a lane change.\nSteering 0s - 3s: steer slightly to the right to perform a smooth lane change to the right lane.\nAcceleration 3s - 5s: maintain the current speed to finish the lane change.\nSteering 3s - 5s: steer slightly to the left to center the car in the right lane.", "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T16:04:26.028Z"}, "last_modified_at": {"$date": "2026-06-24T16:08:00.679Z"}, "metadata": {"_cls": "VideoMetadata", "size_bytes": 3249703, "mime_type": "video/mp4", "frame_width": 1920, "frame_height": 828, "frame_rate": 5.0, "total_frame_count": 46, "duration": 9.2, "encoding_str": "avc1"}, "qwen_emb_surround": {"$binary": {"base64": 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0.25], [9.3, 0.39], [10.33, 0.63], [11.3, 0.99], [12.24, 1.45], [13.16, 2.0], [14.07, 2.62], [14.96, 3.31], [15.83, 4.07], [16.68, 4.9], [17.48, 5.81], [18.23, 6.83], [18.93, 7.95], [19.58, 9.18], [20.22, 10.51], [20.88, 11.94], [21.56, 13.45], [22.26, 15.06], [22.99, 16.75], [23.76, 18.53]]}, "reasoning_english": {"situational_awareness": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already slightly decelerated to make a left turn", "steering_first_3s": "steer to the left", "reason_steering_first_3s": "to make a left turn", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the left turn", "steering_last_2s": "steer straight", "reason_steering_last_2s": "to center the car in the lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3c1c18c04d052a804a6b47"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already slightly decelerated to make a left turn"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b48"}, "_cls": 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"steering_first_3s": "voy a girar a la izquierda", "reason_steering_first_3s": "para salirme a la nueva vida", "acceleration_last_2s": "voy a mantener la velocidad actual", "reason_acceleration_last_2s": "porque no puedo ir m\u00e1s r\u00e1pido", "steering_last_2s": "voy a seguir recto", "reason_steering_last_2s": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3c1c18c04d052a804a6b4b"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque, si voy m\u00e1s r\u00e1pido, me he chocho con el de delante"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b4c"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la izquierda", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para salirme a la nueva vida"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b4d"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad actual", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque no puedo ir m\u00e1s r\u00e1pido"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b4e"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "porque todav\u00eda no puedo salirme a la nueva v\u00eda"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u90ca\u533a\u4e01\u5b57\u8def\u53e3\u7684\u5de6\u8f6c\u8f66\u9053\u4e0a\uff0c\u6b63\u5728\u8ddf\u968f\u524d\u65b9\u8f66\u8f86\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_first_3s": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "reason_steering_first_3s": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002", "acceleration_last_2s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002", "steering_last_2s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3c1c18c04d052a804a6b4f"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b50"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u5de6\u8f6c\u5411", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u8def\u53e3\u8fdb\u884c\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b51"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u548c\u524d\u65b9\u5de6\u8f6c\u8f66\u8f86\u8ddd\u79bb\u5408\u9002\uff0c\u6211\u53ef\u4ee5\u7ee7\u7eed\u8ddf\u8f66\u5de6\u8f6c\u3002"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b52"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u5df2\u7ecf\u5b8c\u6210\u5de6\u8f6c\uff0c\u6211\u9700\u8981\u6cbf\u7740\u9053\u8def\u76f4\u884c\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn left. What do you notice?", "answer": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already slightly decelerated to make a left turn"}, {"question": "In the next 3 seconds, why are you going to steer to the left?", "answer": "to make a left turn"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the left turn"}, {"question": "In the last 2 seconds, why are you going to steer straight?", "answer": "to center the car in the lane"}], "reasoning_cot_english_reconstructed": "I am approaching an intersection at about 30 kilometers per hour. There is a small car in front of me that is making a left turn, and the oncoming traffic is far enough away that I can also make a left turn.\nAcceleration 0s - 3s: maintain the current speed since I have already slightly decelerated to make a left turn.\nSteering 0s - 3s: steer to the left to make a left turn.\nAcceleration 3s - 5s: maintain the current speed to finish the left turn.\nSteering 3s - 5s: steer straight to center the car in the lane.", "qwen_emb_front": {"$binary": {"base64": 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"subType": "00"}}, "uniqueness_front": 0.9445554965603566, "representativeness_front": 0.9791396260261536, "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T18:04:08.881Z"}, "last_modified_at": {"$date": "2026-06-24T18:04:08.881Z"}},{"_id": {"$oid": "6a3c1c18c04d052a804a6c38"}, "filepath": "data/front-2_scene.fo3d", "tags": ["train"], "_media_type": "3d", "_rand": 0.9990975838529736, "group": {"_id": {"$oid": "6a3b6e6b43a442f472c380c7"}, "_cls": "Group", "name": "threed"}, "camera": "threed", "scenario_id": "0000401", "split": "train", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3c1c18c04d052a804a6b53"}, "_cls": "Classification", "tags": [], "label": "turn right"}, "scenario_type": {"_id": {"$oid": "6a3c1c18c04d052a804a6b54"}, "_cls": "Classification", "tags": [], "label": "4 intersection"}, "trajectory_bev": {"past": [[-25.4, 2.03], [-24.83, 1.96], [-23.93, 1.86], [-22.74, 1.73], [-21.35, 1.58], [-19.81, 1.42], [-18.2, 1.25], [-16.59, 1.09], [-14.99, 0.93], [-13.43, 0.79], [-11.92, 0.63], [-10.46, 0.48], [-9.07, 0.34], [-7.71, 0.21], [-6.41, 0.09], [-5.16, -0.03], [-3.96, -0.11], [-2.8, -0.17], [-1.69, -0.21], [-0.64, -0.23], [0.36, -0.21]], "expert_like": [[1.3, -0.17], [2.21, -0.11], [3.07, -0.04], [3.91, 0.06], [4.72, 0.17], [5.51, 0.3], [6.3, 0.42], [7.07, 0.55], [7.86, 0.69], [8.65, 0.82], [9.48, 0.97], [10.34, 1.11], [11.25, 1.24], [12.23, 1.37], [13.26, 1.5], [14.34, 1.58], [15.5, 1.64], [16.71, 1.66], [17.98, 1.61], [19.29, 1.5], [20.65, 1.32], [22.05, 1.07], [23.47, 0.77], [24.91, 0.42], [26.4, 0.05]], "wrong_speed": [[0.89, 0.05], [1.77, 0.13], [2.59, 0.2], [3.37, 0.3], [4.09, 0.41], [4.73, 0.5], [5.32, 0.57], [5.87, 0.62], [6.39, 0.71], [6.95, 0.79], [7.57, 0.87], [8.24, 0.95], [8.96, 1.07], [9.71, 1.17], [10.48, 1.25], [11.28, 1.32], [12.17, 1.44], [13.06, 1.52], [13.97, 1.56], [14.92, 1.56], [15.91, 1.57], [16.94, 1.52], [17.98, 1.42], [19.04, 1.28], [20.12, 1.1]], "off_road": [[0.94, 0.08], [1.87, 0.14], [2.81, 0.16], [3.76, 0.16], [4.71, 0.13], [5.68, 0.08], [6.66, 0.01], [7.65, -0.07], [8.65, -0.17], [9.68, -0.27], [10.72, -0.38], [11.77, -0.49], [12.84, -0.59], [13.93, -0.7], [15.04, -0.8], [16.16, -0.9], [17.3, -0.99], [18.46, -1.07], [19.63, -1.15], [20.82, -1.23], [22.02, -1.3], [23.24, -1.36], [24.47, -1.42], [25.72, -1.49], [26.98, -1.55]]}, "reasoning_english": {"situational_awareness": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "since I have already decelerated to enter the roundabout", "steering_first_3s": "steer straight", "reason_steering_first_3s": "to enter the roundabout", "acceleration_last_2s": "accelerate slightly", "reason_acceleration_last_2s": "to reach a normal driving speed in an urban environment", "steering_last_2s": "steer to the right", "reason_steering_last_2s": "to follow my instruction and exit the roundabout with a right turn"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3c1c18c04d052a804a6b55"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "since I have already decelerated to enter the roundabout"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b56"}, "_cls": "TemporalDetection", "tags": [], "label": "steer straight", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to enter the roundabout"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b57"}, "_cls": "TemporalDetection", "tags": [], "label": "accelerate slightly", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to reach a normal driving speed in an urban environment"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b58"}, "_cls": "TemporalDetection", "tags": [], "label": "steer to the right", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to follow my instruction and exit the roundabout with a right turn"}]}, "reasoning_spanish": {"situational_awareness": "Me aproximo una rotonda donde ya hay coches en ella y de frente quieren entrar muchos.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque no tengo que ceder el paso a nadie para entrar en la rotonda", "steering_first_3s": "voy a seguir recto porque", "reason_steering_first_3s": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda", "acceleration_last_2s": "voy a acelerar ligeramente", "reason_acceleration_last_2s": "porque al salir de la rotonda tengo que ganar velocidad", "steering_last_2s": "voy a girar a la derecha", "reason_steering_last_2s": "por la forma de la carretera"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3c1c18c04d052a804a6b59"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque no tengo que ceder el paso a nadie para entrar en la rotonda"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b5a"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a seguir recto porque", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "porque, aunque quiero girar a la derecha, primero tengo que entrar en la rotonda"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b5b"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a acelerar ligeramente", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "porque al salir de la rotonda tengo que ganar velocidad"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b5c"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar a la derecha", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "por la forma de la carretera"}]}, "reasoning_chinese": {"situational_awareness": "\u6211\u884c\u9a76\u5728\u4e00\u4e2a\u57ce\u5e02\u5c45\u6c11\u5c45\u533a\u7684\u73af\u5c9b\u5165\u53e3\uff0c\u73af\u5c9b\u5185\u6709\u4e24\u8f86\u8f66\u4f46\u90fd\u4e0d\u5f71\u54cd\u6211\u901a\u884c\u3002", "acceleration_first_3s": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "reason_acceleration_first_3s": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002", "steering_first_3s": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "reason_steering_first_3s": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002", "acceleration_last_2s": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "reason_acceleration_last_2s": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002", "steering_last_2s": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "reason_steering_last_2s": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}, "driving_actions_chinese": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3c1c18c04d052a804a6b5d"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u5f53\u524d\u901f\u5ea6", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "\u56e0\u4e3a\u6211\u7684\u884c\u9a76\u8def\u5f84\u4e0a\u6ca1\u6709\u5176\u4ed6\u8f66\u8f86\u963b\u788d\uff0c\u6211\u7684\u5f53\u524d\u901f\u5ea6\u5df2\u7ecf\u662f\u8f83\u4f4e\u7684\u8f66\u901f\uff0c\u9002\u5408\u901a\u8fc7\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u5f53\u524d\u8f66\u901f\u7ee7\u7eed\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b5e"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u4fdd\u6301\u76f4\u884c", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "\u56e0\u4e3a\u5f53\u524d\u73af\u5c9b\u5165\u53e3\u76f8\u5bf9\u4e8e\u73af\u5c9b\u662f\u63a5\u8fd1\u5207\u7ebf\u7684\u65b9\u5411\uff0c\u6211\u5df2\u7ecf\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u4e0e\u73af\u5c9b\u5207\u7ebf\u65b9\u5411\u4e00\u81f4\uff0c\u6240\u4ee5\u6211\u53ef\u4ee5\u4fdd\u6301\u76f4\u884c\u8fdb\u5165\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b5f"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u52a0\u901f", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u76ee\u6807\u51fa\u53e3\u9053\u8def\u524d\u65b9\u5f88\u7a7a\u65f7\uff0c\u53ea\u6709\u5f88\u8fdc\u5904\u6709\u4e00\u4e2a\u9a91\u884c\u8005\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u8f83\u4f4e\uff0c\u6211\u53ef\u4ee5\u5f00\u59cb\u52a0\u901f\u79bb\u5f00\u73af\u5c9b\u3002"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b60"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u5411\u53f3\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u79bb\u5f00\u73af\u5c9b\uff0c\u6240\u4ee5\u6211\u9700\u8981\u8c03\u6574\u65b9\u5411\u76d8\u5411\u53f3\u5c06\u8f66\u8f86\u6307\u5411\u76ee\u6807\u51fa\u53e3\u9053\u8def\u7684\u65b9\u5411\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: turn right. What do you notice?", "answer": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "since I have already decelerated to enter the roundabout"}, {"question": "In the next 3 seconds, why are you going to steer straight?", "answer": "to enter the roundabout"}, {"question": "In the last 2 seconds, why are you going to accelerate slightly?", "answer": "to reach a normal driving speed in an urban environment"}, {"question": "In the last 2 seconds, why are you going to steer to the right?", "answer": "to follow my instruction and exit the roundabout with a right turn"}], "reasoning_cot_english_reconstructed": "I am driving through a town at about 25 kilometers per hour and approaching a roundabout. A car just entered the roundabout in front of me. I am decelerating to enter the roundabout as well.\nAcceleration 0s - 3s: maintain the current speed since I have already decelerated to enter the roundabout.\nSteering 0s - 3s: steer straight to enter the roundabout.\nAcceleration 3s - 5s: accelerate slightly to reach a normal driving speed in an urban environment.\nSteering 3s - 5s: steer to the right to follow my instruction and exit the roundabout with a right turn.", "qwen_emb_front": {"$binary": {"base64": 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"subType": "00"}}, "uniqueness_front": 0.7618942756774775, "representativeness_front": 0.8949129581451416, "_dataset_id": {"$oid": "6a3c000913ca88813b61c289"}, "created_at": {"$date": "2026-06-24T18:04:08.886Z"}, "last_modified_at": {"$date": "2026-06-24T18:04:08.886Z"}},{"_id": {"$oid": "6a3c1c18c04d052a804a6c39"}, "filepath": "data/front-3_scene.fo3d", "tags": ["train"], "_media_type": "3d", "_rand": 0.9992580634208876, "group": {"_id": {"$oid": "6a3b6e6f43a442f472c381a5"}, "_cls": "Group", "name": "threed"}, "camera": "threed", "scenario_id": "0000402", "split": "train", "fps": 5, "n_observed_frames": 21, "n_future_frames": 25, "now_frame": 21, "driving_instruction": {"_id": {"$oid": "6a3c1c18c04d052a804a6b61"}, "_cls": "Classification", "tags": [], "label": "use right lane"}, "scenario_type": {"_id": {"$oid": "6a3c1c18c04d052a804a6b62"}, "_cls": "Classification", "tags": [], "label": "3 overtake or lane change"}, "trajectory_bev": {"past": [[-123.42, -4.99], [-121.2, -4.9], [-117.64, -4.77], [-112.92, -4.59], [-107.25, -4.37], [-100.9, -4.12], [-94.15, -3.84], [-87.2, -3.54], [-80.19, -3.23], [-73.19, -2.92], [-66.24, -2.59], [-59.37, -2.27], [-52.58, -1.95], [-45.87, -1.64], [-39.23, -1.34], [-32.66, -1.05], [-26.16, -0.78], [-19.71, -0.54], [-13.3, -0.31], [-6.93, -0.1], [-0.6, 0.1]], "expert_like": [[5.7, 0.27], [11.97, 0.43], [18.23, 0.57], [24.48, 0.7], [30.71, 0.81], [36.92, 0.9], [43.13, 0.98], [49.33, 1.05], [55.52, 1.12], [61.71, 1.18], [67.89, 1.25], [74.07, 1.32], [80.26, 1.4], [86.43, 1.51], [92.61, 1.63], [98.78, 1.78], [104.94, 1.95], [111.11, 2.16], [117.26, 2.39], [123.41, 2.65], [129.56, 2.93], [135.71, 3.24], [141.86, 3.57], [148.0, 3.91], [154.15, 4.25]], "wrong_speed": [[6.18, 0.15], [12.33, 0.28], [18.41, 0.41], [24.23, 0.51], [29.6, 0.61], [34.48, 0.68], [38.89, 0.73], [42.97, 0.77], [46.96, 0.84], [51.12, 0.89], [55.64, 0.94], [60.5, 1.01], [65.44, 1.09], [70.37, 1.15], [75.32, 1.23], [80.27, 1.33], [85.2, 1.46], [90.13, 1.59], [95.07, 1.73], [99.99, 1.88], [104.92, 2.07], [109.85, 2.26], [114.77, 2.46], [119.69, 2.69], [124.6, 2.93]], "crash": [[6.15, 0.17], [12.3, 0.35], [18.43, 0.55], [24.54, 0.77], [30.64, 1.02], [36.72, 1.29], [42.79, 1.58], [48.83, 1.9], [54.85, 2.26], [60.85, 2.65], [66.83, 3.11], [72.79, 3.64], [78.74, 4.25], [84.67, 4.92], [90.6, 5.61], [96.53, 6.26], [102.46, 6.87], [108.41, 7.43], [114.37, 7.92], [120.35, 8.34], [126.34, 8.67], [132.36, 8.93], [138.39, 9.13], [144.44, 9.29], [150.52, 9.42]]}, "reasoning_english": {"situational_awareness": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.", "acceleration_first_3s": "maintain the current speed", "reason_acceleration_first_3s": "to perform a lane change", "steering_first_3s": "steer slightly to the right", "reason_steering_first_3s": "to perform a smooth lane change to the right lane", "acceleration_last_2s": "maintain the current speed", "reason_acceleration_last_2s": "to finish the lane change", "steering_last_2s": "steer slightly to the left", "reason_steering_last_2s": "to center the car in the right lane"}, "driving_actions_english": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3c1c18c04d052a804a6b63"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "to perform a lane change"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b64"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the right", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "to perform a smooth lane change to the right lane"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b65"}, "_cls": "TemporalDetection", "tags": [], "label": "maintain the current speed", "support": [37, 46], "control": "acceleration", "window": "3-5s", "reason": "to finish the lane change"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b66"}, "_cls": "TemporalDetection", "tags": [], "label": "steer slightly to the left", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "to center the car in the right lane"}]}, "reasoning_spanish": {"situational_awareness": "Voy por el carril central de una autov\u00eda adelantando a un cami\u00f3n y, despu\u00e9s, el carril derecho queda totalmente libre.", "acceleration_first_3s": "voy a mantener la velocidad", "reason_acceleration_first_3s": "porque es una velocidad adecuada", "steering_first_3s": "voy a girar ligeramente a la derecha", "reason_steering_first_3s": "para comenzar la maniobra de cambio de carril", "acceleration_last_2s": "voy a mantener la velocidad", "reason_acceleration_last_2s": "porque es una velocidad adecuada", "steering_last_2s": "voy a girar ligeramente a la izquierda", "reason_steering_last_2s": "para centrar el coche en el carril derecho"}, "driving_actions_spanish": {"_cls": "TemporalDetections", "detections": [{"_id": {"$oid": "6a3c1c18c04d052a804a6b67"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": [22, 36], "control": "acceleration", "window": "0-3s", "reason": "porque es una velocidad adecuada"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b68"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a girar ligeramente a la derecha", "support": [22, 36], "control": "steering", "window": "0-3s", "reason": "para comenzar la maniobra de cambio de carril"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b69"}, "_cls": "TemporalDetection", "tags": [], "label": "voy a mantener la velocidad", "support": 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"acceleration", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u7684\u524d\u65b9\u9053\u8def\u7a7a\u65f7\uff0c\u6211\u7684\u5f53\u524d\u8f66\u901f\u9002\u5408\u8def\u51b5\uff0c\u6211\u4f1a\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\u884c\u9a76\u3002"}, {"_id": {"$oid": "6a3c1c18c04d052a804a6b6e"}, "_cls": "TemporalDetection", "tags": [], "label": "\u6211\u5c06\u7a0d\u5fae\u5411\u5de6\u8f6c\u5411", "support": [37, 46], "control": "steering", "window": "3-5s", "reason": "\u56e0\u4e3a\u6211\u6b63\u5728\u5b8c\u6210\u53d8\u9053\uff0c\u6211\u9700\u8981\u5411\u5de6\u5c06\u8f66\u8f86\u65b9\u5411\u8c03\u6574\u5230\u8f66\u9053\u65b9\u5411\u4e0a\u3002"}]}, "qa_english_reconstructed": [{"question": "Imagine you are driving the car in the video. Your instruction is: use right lane. What do you notice?", "answer": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane."}, {"question": "In the next 3 seconds, why are you going to maintain the current speed?", "answer": "to perform a lane change"}, {"question": "In the next 3 seconds, why are you going to steer slightly to the right?", "answer": "to perform a smooth lane change to the right lane"}, {"question": "In the last 2 seconds, why are you going to maintain the current speed?", "answer": "to finish the lane change"}, {"question": "In the last 2 seconds, why are you going to steer slightly to the left?", "answer": "to center the car in the right lane"}], "reasoning_cot_english_reconstructed": "I am driving on a highway in the middle lane at about 110 kilometers per hour. I was just overtaking a truck in the right lane when a car in the left lane overtook me. In front of me, there is a lot of space in my lane and in the right lane.\nAcceleration 0s - 3s: maintain the current speed to perform a lane change.\nSteering 0s - 3s: steer slightly to the right to perform a smooth lane change to the right lane.\nAcceleration 3s - 5s: maintain the current speed to finish the lane change.\nSteering 3s - 5s: steer slightly to the left to center the car in the right lane.", "qwen_emb_front": {"$binary": {"base64": 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