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The dataset generation failed because of a cast error
Error code: DatasetGenerationCastError
Exception: DatasetGenerationCastError
Message: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 108 new columns ({'fe5b1b2e8aa2430e90c5c90825f9f1f2', '43f05ac397484672b9bdf86dcc0b0289', 'bda4f0fb063b43648614009183ddb205', 'eb2aee021ee94234a96591c073f07039', '35877a50756642d2ad693e6282ca59eb', '75d4eb5cbf1f4dea9aa85938ae0c041a', '90bf8cc6d6c340859bbb99056a0e7e8e', '68d55043775840cbacb2d9d2bf15ad4a', 'a6c7d30b3ff849ed80e35dbacf992b3a', '401897a3cda547d983c51b5eb588597e', 'e4363f9c430949b696bb6295350068fd', '20d404c7a0d9453c9e9976998acbc239', '84be933be84649c4ace40b3730ac400d', '6d441f62cca84aec8c7d7b2ef3518bf8', '73a83a6061544574b8be26769cd040c3', '8933c82d1a084941bb63e0d72143338c', '4f5d5716e3c84ff4b1712fe3ca2cddef', 'b77c6c3c01fe4353a7798788daa0bbcd', '33673e8b71b54b6b8aba19674c4d364b', '0e295a122e87412ab04fdb5414e8b4dd', 'cac36ac953b1491d8249571bb607f5c0', '02b2576a25dc4e6a9264966fae4618bb', 'ce7c414656da4ddc90b8f1b82f1169d8', 'f07d9c256cea46db821c50364f5066e1', '7b58c0925d5046c0bdaa962662340cd1', 'e09e59dc4a6047ddbfcc8e04a803439f', 'c5b518e3ec054ef4b2209d2b56a9bf51', '85d1c474f3cf4a4cbf82e5484115dc8a', '28d95d22c2e94cc4a8b3dab896e4b70b', '8e46878ced734164aae0e83567aa02a5', 'c6305e7ff33a40bdbc1c67252bae24c9', '0382fe992523435580ac3599fee07b2c', '8e2bf75652824d4186a15f4d866a52ac', 'b1c10b7f077b40dab048004f413fc21a', '13c18e2085a644a59d31dcc73e593bc1', 'f7774606bec7410089d84d80f97b6bf6', '14abe931967944308e54fc90b21b4d5d', '538d60ddf0014c268ee1efbec35289a1', '65a8ef19da634de79e11e8ae1e127947', 'f4a2c7c37bc84ff9a75461b41e5c405b', '075bcf254e22463eb593adacb45bbdd5', 'f1e0317b4963452e9cbd3a
...
804c47b143f9fc7a40ae67', 'e235097e8d3942bb9a0d62f99663124a', 'c4866d65281d46b6844c61e679b9e60b', '748e4f5f1a1c4c8cbbcb825ba9ebc739', 'c4bfd781001842f98f2677379c079e29', '2cb385a419864e18aa8e6cb2a80bfaa9', '559a08e821924fab9931dd6d2b890044', '65e374d35aed4099ac9cd42f10418203', '2f5248eac5d1492cb24c06b6f7a937be', '3e1d40ecbb3142689ba1b8e4d8d955d4', 'f776ed1be97c4b11b142a18ba2d5d8d7', 'de52afcc66d9450da5f07b10977e0493', '0fc008ed23194ee5b5b3b54983c7a9fd', '829ca2190efe4aa88f260bffb1d0697a', '7178e12f0bf14ce0908584125f9df2e2', '6cd6689710b24637a88d43a4f82cf3d3', '1f048fa210c64e80b9d57e3dc757702c', 'a32c7d6ff3504970b14f3e75768da72a', 'dcbe451d383e450786aaad04ab9d3790', '77726965b5f14886a5c77149a2d20998', 'dd83fee3ead44981b1294903987fba40', '9966b18d95da4e2c98628a7f8b238699', 'd1129731ff224dfeb73f3e0bb3bb58b7', 'e4bd3cf841e94094a7955c1d5c5b0e73', '8920e4fabd9e49e696d0d49300bcebc3', 'dab2d6b3b92049d99cbb1067f845337e', 'd5d97f6274724ec388f08766401a7bfc', '95619e3927234382802b13a3942cea07', '7290592094a44fc78ba995f880ba0b34', '135638e1666e46a7b492dedad5777ff0', '64ba8182ed7f4690aecb99aeb69b178a', 'ef1f55cb0939401689e65114fa99f56f', '1241c106eb8e49f09f91ea9b2552cd84', '58a4b98af7bf4cff9ee5667b103d0f12', '107dd32140844573924260f9ad9390bf', 'bd3d9b10242d42108adc092e8fbf674f', '7d036240624b48c3a78934c962581333', '7db0a6adf1b040e0ba30b4d21b888a3b', 'aef432bdd6004dbc847cfb4e6172663d', '7b4e72598a6b432b86d2696f6a03fcd2', '14384b3ce9d243ce827bf0c1598dd35f', '7d5467b98e28404386bb8b3d929067d0'}) and 10 missing columns ({'token', 'judge_score', 'road_topology', 'yolo_inventory', 'key_interacting_agents', 'odd_attributes', 'description', 'wod_e2e_tags', 'judge_log', 'scenario_criticality'}).
This happened while the json dataset builder was generating data using
hf://datasets/agnprz/semantic-drive-results/ground_truth.json (at revision 9b8f3b3c308a1922f752c652f8a1da4705042033)
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1831, in _prepare_split_single
writer.write_table(table)
File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 714, in write_table
pa_table = table_cast(pa_table, self._schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2272, in table_cast
return cast_table_to_schema(table, schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2218, in cast_table_to_schema
raise CastError(
datasets.table.CastError: Couldn't cast
3435b0de308243509d0b9967a1a50296: struct<token: string, odd_attributes: struct<weather: string, time_of_day: string, lighting_conditio (... 518 chars omitted)
child 0, token: string
child 1, odd_attributes: struct<weather: string, time_of_day: string, lighting_condition: string, road_surface_friction: stri (... 29 chars omitted)
child 0, weather: string
child 1, time_of_day: string
child 2, lighting_condition: string
child 3, road_surface_friction: string
child 4, sensor_integrity: string
child 2, road_topology: struct<scene_type: string, lane_configuration: string, drivable_area_status: string, traffic_control (... 22 chars omitted)
child 0, scene_type: string
child 1, lane_configuration: string
child 2, drivable_area_status: string
child 3, traffic_controls: list<item: string>
child 0, item: string
child 3, key_interacting_agents: struct<vru_status: string, lead_vehicle_behavior: string, adjacent_vehicle_behavior: string, special (... 21 chars omitted)
child 0, vru_status: string
child 1, lead_vehicle_behavior: string
child 2, adjacent_vehicle_behavior: string
child 3, special_agent_class: string
child 4, scenario_criticality: struct<primary_challenge: string, ego_required_action: string, blocking_factor: string, risk_score: (... 6 chars omitted)
child 0, primary_challenge: string
child 1, ego_required_action: string
child 2, blocking_factor: string
chi
...
time_of_day: string, lighting_conditio (... 518 chars omitted)
child 0, token: string
child 1, odd_attributes: struct<weather: string, time_of_day: string, lighting_condition: string, road_surface_friction: stri (... 29 chars omitted)
child 0, weather: string
child 1, time_of_day: string
child 2, lighting_condition: string
child 3, road_surface_friction: string
child 4, sensor_integrity: string
child 2, road_topology: struct<scene_type: string, lane_configuration: string, drivable_area_status: string, traffic_control (... 22 chars omitted)
child 0, scene_type: string
child 1, lane_configuration: string
child 2, drivable_area_status: string
child 3, traffic_controls: list<item: string>
child 0, item: string
child 3, key_interacting_agents: struct<vru_status: string, lead_vehicle_behavior: string, adjacent_vehicle_behavior: string, special (... 21 chars omitted)
child 0, vru_status: string
child 1, lead_vehicle_behavior: string
child 2, adjacent_vehicle_behavior: string
child 3, special_agent_class: string
child 4, scenario_criticality: struct<primary_challenge: string, ego_required_action: string, blocking_factor: string, risk_score: (... 6 chars omitted)
child 0, primary_challenge: string
child 1, ego_required_action: string
child 2, blocking_factor: string
child 3, risk_score: int64
child 5, wod_e2e_tags: list<item: string>
child 0, item: string
to
{'odd_attributes': {'weather': Value('string'), 'time_of_day': Value('string'), 'lighting_condition': Value('string'), 'road_surface_friction': Value('string'), 'sensor_integrity': Value('string')}, 'road_topology': {'scene_type': Value('string'), 'lane_configuration': Value('string'), 'drivable_area_status': Value('string'), 'traffic_controls': List(Value('string'))}, 'key_interacting_agents': {'vru_status': Value('string'), 'lead_vehicle_behavior': Value('string'), 'adjacent_vehicle_behavior': Value('string'), 'special_agent_class': Value('string')}, 'scenario_criticality': {'primary_challenge': Value('string'), 'ego_required_action': Value('string'), 'blocking_factor': Value('string'), 'risk_score': Value('int64')}, 'wod_e2e_tags': List(Value('string')), 'description': Value('string'), 'token': Value('string'), 'judge_score': Value('float64'), 'judge_log': List(Value('string')), 'yolo_inventory': Value('string')}
because column names don't match
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1339, in compute_config_parquet_and_info_response
parquet_operations = convert_to_parquet(builder)
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 972, in convert_to_parquet
builder.download_and_prepare(
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 894, in download_and_prepare
self._download_and_prepare(
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 970, in _download_and_prepare
self._prepare_split(split_generator, **prepare_split_kwargs)
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1702, in _prepare_split
for job_id, done, content in self._prepare_split_single(
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1833, in _prepare_split_single
raise DatasetGenerationCastError.from_cast_error(
datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 108 new columns ({'fe5b1b2e8aa2430e90c5c90825f9f1f2', '43f05ac397484672b9bdf86dcc0b0289', 'bda4f0fb063b43648614009183ddb205', 'eb2aee021ee94234a96591c073f07039', '35877a50756642d2ad693e6282ca59eb', '75d4eb5cbf1f4dea9aa85938ae0c041a', '90bf8cc6d6c340859bbb99056a0e7e8e', '68d55043775840cbacb2d9d2bf15ad4a', 'a6c7d30b3ff849ed80e35dbacf992b3a', '401897a3cda547d983c51b5eb588597e', 'e4363f9c430949b696bb6295350068fd', '20d404c7a0d9453c9e9976998acbc239', '84be933be84649c4ace40b3730ac400d', '6d441f62cca84aec8c7d7b2ef3518bf8', '73a83a6061544574b8be26769cd040c3', '8933c82d1a084941bb63e0d72143338c', '4f5d5716e3c84ff4b1712fe3ca2cddef', 'b77c6c3c01fe4353a7798788daa0bbcd', '33673e8b71b54b6b8aba19674c4d364b', '0e295a122e87412ab04fdb5414e8b4dd', 'cac36ac953b1491d8249571bb607f5c0', '02b2576a25dc4e6a9264966fae4618bb', 'ce7c414656da4ddc90b8f1b82f1169d8', 'f07d9c256cea46db821c50364f5066e1', '7b58c0925d5046c0bdaa962662340cd1', 'e09e59dc4a6047ddbfcc8e04a803439f', 'c5b518e3ec054ef4b2209d2b56a9bf51', '85d1c474f3cf4a4cbf82e5484115dc8a', '28d95d22c2e94cc4a8b3dab896e4b70b', '8e46878ced734164aae0e83567aa02a5', 'c6305e7ff33a40bdbc1c67252bae24c9', '0382fe992523435580ac3599fee07b2c', '8e2bf75652824d4186a15f4d866a52ac', 'b1c10b7f077b40dab048004f413fc21a', '13c18e2085a644a59d31dcc73e593bc1', 'f7774606bec7410089d84d80f97b6bf6', '14abe931967944308e54fc90b21b4d5d', '538d60ddf0014c268ee1efbec35289a1', '65a8ef19da634de79e11e8ae1e127947', 'f4a2c7c37bc84ff9a75461b41e5c405b', '075bcf254e22463eb593adacb45bbdd5', 'f1e0317b4963452e9cbd3a
...
804c47b143f9fc7a40ae67', 'e235097e8d3942bb9a0d62f99663124a', 'c4866d65281d46b6844c61e679b9e60b', '748e4f5f1a1c4c8cbbcb825ba9ebc739', 'c4bfd781001842f98f2677379c079e29', '2cb385a419864e18aa8e6cb2a80bfaa9', '559a08e821924fab9931dd6d2b890044', '65e374d35aed4099ac9cd42f10418203', '2f5248eac5d1492cb24c06b6f7a937be', '3e1d40ecbb3142689ba1b8e4d8d955d4', 'f776ed1be97c4b11b142a18ba2d5d8d7', 'de52afcc66d9450da5f07b10977e0493', '0fc008ed23194ee5b5b3b54983c7a9fd', '829ca2190efe4aa88f260bffb1d0697a', '7178e12f0bf14ce0908584125f9df2e2', '6cd6689710b24637a88d43a4f82cf3d3', '1f048fa210c64e80b9d57e3dc757702c', 'a32c7d6ff3504970b14f3e75768da72a', 'dcbe451d383e450786aaad04ab9d3790', '77726965b5f14886a5c77149a2d20998', 'dd83fee3ead44981b1294903987fba40', '9966b18d95da4e2c98628a7f8b238699', 'd1129731ff224dfeb73f3e0bb3bb58b7', 'e4bd3cf841e94094a7955c1d5c5b0e73', '8920e4fabd9e49e696d0d49300bcebc3', 'dab2d6b3b92049d99cbb1067f845337e', 'd5d97f6274724ec388f08766401a7bfc', '95619e3927234382802b13a3942cea07', '7290592094a44fc78ba995f880ba0b34', '135638e1666e46a7b492dedad5777ff0', '64ba8182ed7f4690aecb99aeb69b178a', 'ef1f55cb0939401689e65114fa99f56f', '1241c106eb8e49f09f91ea9b2552cd84', '58a4b98af7bf4cff9ee5667b103d0f12', '107dd32140844573924260f9ad9390bf', 'bd3d9b10242d42108adc092e8fbf674f', '7d036240624b48c3a78934c962581333', '7db0a6adf1b040e0ba30b4d21b888a3b', 'aef432bdd6004dbc847cfb4e6172663d', '7b4e72598a6b432b86d2696f6a03fcd2', '14384b3ce9d243ce827bf0c1598dd35f', '7d5467b98e28404386bb8b3d929067d0'}) and 10 missing columns ({'token', 'judge_score', 'road_topology', 'yolo_inventory', 'key_interacting_agents', 'odd_attributes', 'description', 'wod_e2e_tags', 'judge_log', 'scenario_criticality'}).
This happened while the json dataset builder was generating data using
hf://datasets/agnprz/semantic-drive-results/ground_truth.json (at revision 9b8f3b3c308a1922f752c652f8a1da4705042033)
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
odd_attributes
dict | road_topology
dict | key_interacting_agents
dict | scenario_criticality
dict | wod_e2e_tags
list | description
string | token
string | judge_score
float64 | judge_log
list | yolo_inventory
string |
|---|---|---|---|---|---|---|---|---|---|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "merge_right",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "nudge_around_static_obstacle",
"blocking_factor": "construction_barrier",
"risk_score": 6
}
|
[
"construction",
"lane_diversion"
] |
Construction zone with jersey barriers and traffic cones blocking left lane, forcing a merge to the right.
|
0382fe992523435580ac3599fee07b2c
| 5
|
[
"✅ Construction Grounded",
"✅ Causal Link (Action -> Blocker)"
] |
[CAM_FRONT_LEFT]: 1 jersey barrier (Med/0.56); 1 school zone sign (Small/0.52); 1 temporary sign (Small/0.48); 1 traffic light (Small/0.45)
[CAM_FRONT]: 1 traffic cone (Small/0.58); 1 pickup truck (Small/0.54); 1 suv (Small/0.47)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "motion_blur"
}
|
{
"scene_type": "rural_road",
"lane_configuration": "curve",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[] |
Clear rural road with a curve, minimal motion blur, and no detected hazards.
|
401897a3cda547d983c51b5eb588597e
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"sensor_failure"
] |
Clear urban street with nominal conditions, but low-confidence YOLO detections of parked vehicles suggest potential perception degradation risk.
|
1e72d3e64b394b33b66ec0b895323ac5
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 street cleaner (Small/0.44)
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: 1 suv (Med/0.56); 1 car (Med/0.48)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"stop_sign"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 1
}
|
[] |
Clear urban street with parked cars detected at low confidence (no dynamic hazards or violations).
|
68d55043775840cbacb2d9d2bf15ad4a
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 car (Small/0.52)
[CAM_FRONT]: 1 car (Small/0.48)
[CAM_FRONT_RIGHT]: 2 cars (Small/0.62, Small/0.53)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "police_car"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "vehicle",
"risk_score": 6
}
|
[
"weather_adverse",
"special_vehicle"
] |
Urban street during daylight with wet road surface and raindrops on sensors, featuring a police vehicle in the lead lane.
|
77726965b5f14886a5c77149a2d20998
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 concrete barrier (Med/0.44)
[CAM_FRONT]: 2 buss (Med/0.79, Med/0.49); 1 police vehicle (Med/0.63); 1 person (Small/0.40)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"construction"
] |
Clear urban street with low-confidence temporary signs indicating potential construction-related lane changes, requiring cautious perception.
|
63ab650b55194cb6aa796756f001e8bd
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 temporary sign (Small/0.46)
[CAM_FRONT]: 1 temporary sign (Small/0.52); 1 speed limit sign (Small/0.47)
[CAM_FRONT_RIGHT]: 2 cars (Med/0.42, Small/0.47); 1 sedan (Med/0.42)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "straight",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "slow_down",
"blocking_factor": "construction_barrier",
"risk_score": 7
}
|
[
"construction",
"lane_diversion"
] |
Urban street with construction barriers and cones on the right, restricting drivable area and requiring cautious lane-keeping.
|
075bcf254e22463eb593adacb45bbdd5
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 2 pickup trucks (Med/0.96, Med/0.70); 2 concrete barriers (Med/0.77, Med/0.88); 1 car (Med/0.86); 2 suvs (Med/0.81, Med/0.68); 1 jersey barrier (Med/0.41)
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: 1 traffic cone (Small/0.44)
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"weather_adverse"
] |
Urban street with adverse weather conditions (overcast, wet road, droplets on lens) and multiple distant vehicles, requiring cautious driving due to reduced visibility and perception challenges.
|
02b2576a25dc4e6a9264966fae4618bb
| 0
|
[] |
[CAM_FRONT_LEFT]: 4 cars (Med/0.51, Small/0.58, Small/0.78); 1 sedan (Med/0.50)
[CAM_FRONT]: 1 truck (Small/0.81); 2 cars (Med/0.48, Small/0.67); 2 suvs (Med/0.52, Small/0.44)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "wet",
"sensor_integrity": "lens_flare"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"weather_adverse",
"sensor_failure"
] |
Nighttime urban street with wet road surface and high sensor glare, requiring cautious speed to mitigate perception uncertainty.
|
ba943d6b836a44fdad968d0a0fe43897
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 car (Small/0.48)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "rain",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"weather_adverse"
] |
Rainy urban street with wet road surface and droplets impairing sensor integrity, requiring cautious speed reduction.
|
9181eef7a034444ca4a8acafb4f45585
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 car (Large/0.86)
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 1
}
|
[
"construction"
] |
Clear urban street with traffic cones on sidewalk indicating nearby construction activity, but no immediate hazards.
|
33673e8b71b54b6b8aba19674c4d364b
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 safety fence (Med/0.48)
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: 2 traffic cones (Small/0.53, Small/0.41); 1 orange cone (Small/0.41)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[] |
Clear urban street with nominal conditions, green traffic light, and no detected VRU hazards or dynamic obstacles.
|
7b58c0925d5046c0bdaa962662340cd1
| 0
|
[] |
[CAM_FRONT_LEFT]: 2 persons (Small/0.79, Small/0.43); 1 car (Small/0.56)
[CAM_FRONT]: 1 car (Med/0.73); 1 traffic light (Small/0.62)
[CAM_FRONT_RIGHT]: 1 suv (Med/0.46); 1 car (Small/0.44)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "curve",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[] |
Curved urban street with parked vehicles on the roadside, no immediate hazards.
|
14abe931967944308e54fc90b21b4d5d
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 concrete barrier (Med/0.45); 1 jersey barrier (Med/0.42)
[CAM_FRONT]: 1 car (Small/0.71)
[CAM_FRONT_RIGHT]: 3 cars (Small/0.55, Small/0.64, Small/0.49)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "straight",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"yield_sign"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "construction_machinery"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "yield",
"blocking_factor": "construction_barrier",
"risk_score": 7
}
|
[
"construction",
"lane_diversion"
] |
Urban construction zone with static barriers and yield signs restricting drivable area, requiring ego to yield.
|
d5d97f6274724ec388f08766401a7bfc
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 3 cars (Med/0.80, Med/0.63, Small/0.59); 1 traffic cone (Small/0.73); 1 temporary sign (Med/0.60)
[CAM_FRONT]: 2 yield signs (Small/0.71, Small/0.46); 1 car (Med/0.70); 2 traffic cones (Small/0.61, Small/0.54); 1 orange cone (Small/0.42)
[CAM_FRONT_RIGHT]: 1 traffic barrier (Med/0.55); 1 scaffolding (Med/0.47); 1 car (Small/0.43)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "shadow_contrast",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "merge_right",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"yield_sign"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "stalled",
"adjacent_vehicle_behavior": "nominal",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "lane_change",
"blocking_factor": "construction_barrier",
"risk_score": 7
}
|
[
"construction",
"lane_diversion"
] |
Construction zone with roadwork signs and barriers closing the left lane, requiring a right lane merge.
|
d614bc7059634973afe8b0ff29898a4b
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 yield sign (Small/0.71); 2 road work signs (Small/0.69, Small/0.41); 1 car (Small/0.61); 1 truck (Med/0.60)
[CAM_FRONT]: 1 truck (Med/0.64); 1 yield sign (Small/0.51)
[CAM_FRONT_RIGHT]: 1 van (Med/0.84); 1 construction fence (Med/0.44)
|
{
"weather": "rain",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 6
}
|
[
"construction",
"weather_adverse"
] |
Wet road conditions in a construction zone with concrete barriers, requiring reduced speed due to rain and potential perception challenges.
|
3435b0de308243509d0b9967a1a50296
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 4 cars (Med/0.81, Small/0.68, Small/0.69); 1 suv (Med/0.63); 1 concrete barrier (Large/0.47)
[CAM_FRONT]: 1 concrete barrier (Med/0.50)
[CAM_FRONT_RIGHT]: 1 concrete barrier (Large/0.83); 1 bus (Med/0.54)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[] |
Clear urban street with a pedestrian standing on the sidewalk; no immediate traffic hazards detected.
|
10e9b13d0ebd461eaf50a7d6ba2bb800
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 police vehicle (Large/0.74); 1 car (Large/0.60); 1 suv (Large/0.54); 1 street cleaner (Med/0.47); 1 person (Med/0.45)
[CAM_FRONT]: 2 cars (Med/0.71, Med/0.43); 1 van (Med/0.66); 1 person (Med/0.53)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 2
}
|
[
"construction"
] |
Urban street with temporary construction sign and safety fences near Boston Freight Terminals, requiring cautious speed adjustment.
|
093feb880a5b4bc39527e49605fc8cde
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 temporary sign (Med/0.54); 1 safety fence (Large/0.44)
[CAM_FRONT]: 1 truck (Med/0.82); 1 safety fence (Large/0.51)
[CAM_FRONT_RIGHT]: 2 trucks (Large/0.78, Med/0.43)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 1
}
|
[] |
Clear urban street with pedestrians on sidewalks, no immediate crossing or lane obstruction hazard.
|
990723056b344e0bbc58cf3faffdaecf
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 3 persons (Small/0.76, Small/0.80, Small/0.68)
[CAM_FRONT_RIGHT]: 2 persons (Small/0.52, Small/0.45)
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"vru_hazard",
"weather_adverse"
] |
Urban street with wet road surface and overcast weather; pedestrians on sidewalk pose potential crossing hazard.
|
0e295a122e87412ab04fdb5414e8b4dd
| 0
|
[] |
[CAM_FRONT_LEFT]: 6 persons (Large/0.85, Large/0.89, Med/0.84)
[CAM_FRONT]: 1 person (Med/0.65); 1 bus (Small/0.51); 1 car (Small/0.50); 1 police car (Small/0.42); 1 truck (Med/0.42)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "school_bus"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"special_vehicle",
"vru_hazard"
] |
Clear urban street with school bus detected in vicinity, requiring cautious speed reduction due to potential VRU hazards.
|
638041dcc85b41ffb365e0dd94affb4f
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 car (Small/0.63); 1 truck (Small/0.43)
[CAM_FRONT_RIGHT]: 1 van (Med/0.82); 1 temporary sign (Small/0.49); 1 school zone sign (Small/0.48); 1 truck (Med/0.43); 1 bus (Med/0.40)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"red_light"
]
}
|
{
"vru_status": "legal_crossing",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "stop",
"blocking_factor": "none",
"risk_score": 2
}
|
[
"intersection_complex"
] |
Ego vehicle stopped at red light in a clear urban intersection with a pedestrian legally crossing.
|
6d441f62cca84aec8c7d7b2ef3518bf8
| -15
|
[
"❌ Hallucinated VRU (Not in YOLO)",
"❌ Action requires blocker"
] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 street cleaner (Med/0.55); 1 truck (Med/0.41)
[CAM_FRONT_RIGHT]: 1 sedan (Med/0.79); 1 car (Med/0.69)
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "blocked_by_dynamic_object",
"traffic_controls": [
"red_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "stalled",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "stop",
"blocking_factor": "vehicle",
"risk_score": 6
}
|
[
"weather_adverse",
"sensor_failure"
] |
Urban street at night with heavy traffic at a red light, wet road surface, and sensor degradation due to raindrops on the lens.
|
748e4f5f1a1c4c8cbbcb825ba9ebc739
| 3
|
[
"✅ Causal Link (Action -> Blocker)"
] |
[CAM_FRONT_LEFT]: 1 truck (Large/0.91); 2 cars (Med/0.54, Med/0.90); 1 bus (Large/0.66)
[CAM_FRONT]: 6 cars (Med/0.81, Med/0.82, Small/0.75)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "jaywalking_hesitant",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"vru_hazard"
] |
Clear urban street with pedestrians on sidewalk near bus stop, posing potential crossing hazard.
|
79caf3784b924bcfb74d2676c3b5dcdb
| 2
|
[
"✅ VRU Grounded"
] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 2 persons (Small/0.67, Small/0.44)
[CAM_FRONT_RIGHT]: 1 person (Small/0.80); 1 temporary sign (Small/0.49); 1 speed limit sign (Small/0.49)
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "dry",
"sensor_integrity": "motion_blur"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "cutting_in_aggressive",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"sensor_failure"
] |
Nighttime urban street with motion blur and low-confidence vehicle detection, requiring cautious slow-down due to potential lane-cutting behavior.
|
e235097e8d3942bb9a0d62f99663124a
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 car (Med/0.67)
[CAM_FRONT_RIGHT]: 1 car (Med/0.50)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"vru_hazard"
] |
Clear urban street with pedestrians on sidewalk and vehicles in motion; low-confidence detections suggest potential hesitation risk.
|
ce60a4df7d4a4202bfe824763c31f6b5
| 0
|
[] |
[CAM_FRONT_LEFT]: 2 persons (Small/0.68, Small/0.59); 1 suv (Med/0.67); 1 bus (Small/0.66); 1 stop sign (Small/0.57)
[CAM_FRONT]: 1 bus (Med/0.71); 1 person (Small/0.41)
[CAM_FRONT_RIGHT]: 1 van (Med/0.79); 1 traffic cone (Small/0.56); 1 car (Med/0.47)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[] |
Clear urban street with nominal driving conditions; no detected hazards or dynamic obstacles.
|
d51683a5d04540968046c8c27981be9f
| 0
|
[] |
[CAM_FRONT_LEFT]: 2 cars (Large/0.87, Med/0.90); 1 sedan (Large/0.79)
[CAM_FRONT]: 3 cars (Med/0.61, Med/0.79, Med/0.56); 1 truck (Small/0.73); 1 semi truck (Small/0.72)
[CAM_FRONT_RIGHT]: 1 pickup truck (Med/0.92); 4 cars (Med/0.83, Med/0.85, Med/0.74); 1 school zone sign (Small/0.59)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"sensor_failure"
] |
Clear urban street with nominal conditions, but low-confidence YOLO detections suggest potential perception degradation.
|
fa9853c0f9bf414f8ccc9654ae9b0775
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 truck (Med/0.54); 2 cars (Med/0.42, Small/0.45); 1 sedan (Med/0.40)
[CAM_FRONT]: 1 car (Small/0.66)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 1
}
|
[] |
Clear urban street with no dynamic obstacles or hazards; pedestrians are safely on the sidewalk.
|
9b8dba6009424f5a9badfc1ff238399d
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 concrete barrier (Med/0.64)
[CAM_FRONT]: 3 persons (Small/0.82, Small/0.82, Small/0.83); 1 concrete barrier (Med/0.45)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "curve",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"construction"
] |
Clear urban construction zone on a curved road with static obstacles (barrier/barrel); low-confidence lead vehicle detection introduces uncertainty.
|
c2ef5483f46b4cb4a6a75c2525312cc9
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 2 cars (Small/0.51, Small/0.44)
[CAM_FRONT]: 1 truck (Med/0.76); 1 pickup truck (Med/0.62)
[CAM_FRONT_RIGHT]: 1 concrete barrier (Med/0.76); 1 construction barrel (Small/0.60)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"weather_adverse",
"vru_hazard"
] |
Urban street with nominal conditions, but potential VRU hazard and adverse sensor integrity due to rain.
|
3c701aeeef6545b88be9ebd13c2660e4
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 pedestrian crossing sign (Small/0.40)
[CAM_FRONT_RIGHT]: 1 pickup truck (Med/0.89); 2 cars (Med/0.53, Med/0.48); 1 van (Small/0.47)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 1
}
|
[
"construction",
"special_vehicle"
] |
Urban street with nominal conditions, but potential topology violation due to ambiguous concrete barriers and road work signs indicating construction activity.
|
6991beaecaeb4c23a485b0750de9ac68
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 2 concrete barriers (Large/0.57, Large/0.41)
[CAM_FRONT]: 1 concrete barrier (Large/0.52); 1 van (Small/0.49)
[CAM_FRONT_RIGHT]: 1 school zone sign (Small/0.48); 1 temporary sign (Small/0.47); 1 road work sign (Med/0.43)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "glare_high",
"road_surface_friction": "dry",
"sensor_integrity": "sun_glare"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"construction"
] |
Urban bridge with pedestrians on sidewalk and misclassified school zone sign (actual construction sign) causing perception ambiguity.
|
7d036240624b48c3a78934c962581333
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 pickup truck (Med/0.94); 1 bus (Med/0.67); 2 vans (Med/0.57, Small/0.58); 1 truck (Small/0.44)
[CAM_FRONT]: 2 persons (Small/0.82, Small/0.73); 1 bus (Med/0.81); 1 school zone sign (Med/0.54)
[CAM_FRONT_RIGHT]: 1 school zone sign (Med/0.53)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "motion_blur"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 1
}
|
[] |
Clear urban street with nominal topology; parked bus on left side detected but not blocking drivable area, no immediate hazards.
|
90bf8cc6d6c340859bbb99056a0e7e8e
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 bus (Large/0.84)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "curve",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"sensor_failure"
] |
Dark urban street with streetlight-only illumination and no visible obstacles, but degraded perception due to low lighting conditions.
|
8e2bf75652824d4186a15f4d866a52ac
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[
"construction"
] |
Urban street with parked cars on both sides and low-confidence construction fencing on the right, indicating potential construction activity.
|
9ffd0547438a460197ad171c508ca59e
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 3 cars (Large/0.76, Large/0.81, Med/0.67); 1 truck (Med/0.59)
[CAM_FRONT]: 1 truck (Med/0.80); 2 cars (Med/0.54, Med/0.44); 1 safety fence (Med/0.48); 1 construction fence (Med/0.44); 1 suv (Small/0.44); 1 semi truck (Med/0.42)
[CAM_FRONT_RIGHT]: 1 car (Large/0.82); 1 temporary sign (Small/0.45)
|
{
"weather": "clear",
"time_of_day": "dawn_dusk",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 1
}
|
[] |
Clear urban street at dawn/dusk with no detected hazards or dynamic agents.
|
dd6a1e8ff40b4233b9b5ee28bb952c20
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 speed limit sign (Small/0.42)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "merge_left",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "lane_change",
"blocking_factor": "construction_barrier",
"risk_score": 7
}
|
[
"construction",
"lane_diversion"
] |
Construction zone with barriers on the right side, forcing a lane merge to the left.
|
ad2620b1faf54ce0a5999f45c30c34fb
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 pickup truck (Small/0.53); 1 van (Small/0.49)
[CAM_FRONT_RIGHT]: 1 jersey barrier (Med/0.77); 1 traffic barrier (Med/0.76); 1 temporary sign (Small/0.47)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"construction"
] |
Clear urban street with pedestrians on the sidewalk and a temporary caution sign indicating potential construction-related hazards ahead.
|
c1676a2feac74eee8aa38ca3901787d6
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 2 persons (Med/0.87, Small/0.42)
[CAM_FRONT]: 2 cars (Small/0.78, Small/0.44); 2 persons (Med/0.75, Small/0.70); 1 temporary sign (Small/0.43)
[CAM_FRONT_RIGHT]: 1 bus (Large/0.87); 1 car (Med/0.68)
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"weather_adverse"
] |
Urban street with wet road surface due to overcast conditions; pedestrian detected on sidewalk but not posing immediate hazard.
|
bd3d9b10242d42108adc092e8fbf674f
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 pickup truck (Med/0.88); 7 cars (Large/0.88, Med/0.79, Small/0.56); 1 suv (Small/0.58); 1 van (Small/0.45)
[CAM_FRONT]: 1 sedan (Large/0.73); 1 pickup truck (Med/0.50)
[CAM_FRONT_RIGHT]: 1 person (Small/0.74)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"construction"
] |
Urban street with concrete barriers near the left lane, potentially indicating construction or lane restrictions, despite nominal drivable conditions.
|
04147507f33e495f912cb64a60bb3f0d
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 2 concrete barriers (Med/0.64, Med/0.45)
[CAM_FRONT]: 1 car (Small/0.61)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"red_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "braking_suddenly",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "stop",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"weather_adverse"
] |
Nighttime urban street with heavy rain and wet road surface, red traffic light forcing vehicles to stop.
|
80a1bcd22811465caa2ab76c63a404cd
| -5
|
[
"❌ Action requires blocker"
] |
[CAM_FRONT_LEFT]: 1 truck (Large/0.93); 2 cars (Med/0.50, Med/0.86); 1 semi truck (Large/0.83)
[CAM_FRONT]: 4 cars (Med/0.79, Med/0.77, Small/0.72); 1 bus (Small/0.60); 1 van (Small/0.43)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "merge_right",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "nudge_around_static_obstacle",
"blocking_factor": "construction_barrier",
"risk_score": 8
}
|
[
"construction",
"lane_diversion",
"vru_hazard"
] |
School zone under construction with static barriers and a worker managing traffic cones, forcing a merge and requiring cautious navigation.
|
7db0a6adf1b040e0ba30b4d21b888a3b
| 5
|
[
"✅ Construction Grounded",
"✅ Causal Link (Action -> Blocker)"
] |
[CAM_FRONT_LEFT]: 1 bus (Large/0.86); 1 orange cone (Small/0.42)
[CAM_FRONT]: 1 person (Large/0.84); 1 concrete barrier (Large/0.71); 3 traffic cones (Small/0.68, Small/0.67, Small/0.68); 1 school zone sign (Med/0.65); 1 plastic bag (Med/0.61); 1 van (Small/0.50); 1 jersey barrier (Large/0.43); 1 orange cone (Small/0.42); 1 bus (Med/0.42); 1 car (Small/0.41)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "construction_machinery"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"construction"
] |
Construction zone with visible machinery on the right side of a clear urban road, requiring cautious speed adjustment due to potential dynamic behavior.
|
adce54dcf6404d37bd170ffc4c2a7836
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 traffic barrier (Small/0.68)
[CAM_FRONT]: 1 concrete barrier (Large/0.46)
[CAM_FRONT_RIGHT]: 2 construction vehicles (Med/0.42, Med/0.59); 1 bulldozer (Med/0.57)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light",
"yield_sign"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[
"intersection_complex"
] |
Clear urban intersection with nominal traffic conditions; no VRU or dynamic vehicle hazards detected.
|
0129fd9f327345aa8b0b970e97b5c4a9
| 0
|
[] |
[CAM_FRONT_LEFT]: 2 persons (Small/0.78, Small/0.58); 3 cars (Med/0.51, Small/0.75, Small/0.53); 1 suv (Med/0.71); 3 traffic lights (Small/0.71, Small/0.68, Small/0.46)
[CAM_FRONT]: 4 traffic lights (Small/0.43, Small/0.51, Small/0.73); 1 person (Small/0.68); 1 suv (Large/0.61); 2 cars (Large/0.59, Small/0.45); 1 yield sign (Small/0.49); 1 sedan (Large/0.48)
[CAM_FRONT_RIGHT]: 2 traffic lights (Small/0.46, Small/0.49); 1 car (Small/0.47); 1 pickup truck (Small/0.42)
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"weather_adverse"
] |
Nighttime urban street with low lighting (streetlights only) degrading perception, requiring cautious driving.
|
cf95d5345e944a9ebd703a788563f068
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 bus (Small/0.41)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "intersection",
"lane_configuration": "intersection_4way",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"red_light",
"stop_sign"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "stalled",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "school_bus"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "nudge_around_static_obstacle",
"blocking_factor": "construction_barrier",
"risk_score": 9
}
|
[
"construction",
"intersection_complex",
"weather_adverse",
"special_vehicle",
"lane_diversion"
] |
Urban intersection with construction cones and stop signs blocking the left lane, a school bus ahead at red light, and wet road conditions requiring cautious lane adjustment.
|
6cd6689710b24637a88d43a4f82cf3d3
| 5
|
[
"✅ Construction Grounded",
"✅ Causal Link (Action -> Blocker)"
] |
[CAM_FRONT_LEFT]: 1 bus (Med/0.89); 2 cars (Large/0.80, Small/0.77); 2 stop signs (Small/0.78, Small/0.67); 4 traffic lights (Small/0.46, Small/0.56, Small/0.72); 5 traffic cones (Small/0.58, Small/0.52, Small/0.57); 2 orange cones (Small/0.60, Small/0.50)
[CAM_FRONT]: 1 sedan (Large/0.68); 1 traffic light (Small/0.62)
[CAM_FRONT_RIGHT]: 1 temporary sign (Small/0.42)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "intersection",
"lane_configuration": "intersection_4way",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "slow_down",
"blocking_factor": "construction_barrier",
"risk_score": 4
}
|
[
"construction",
"intersection_complex"
] |
Urban 4-way intersection with construction barriers (jersey barrier and traffic cones) partially restricting drivable area, green lights, and nominal traffic flow.
|
54393ef94bd640f6ba714558ff3a85ea
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 jersey barrier (Med/0.87); 2 cars (Large/0.77, Small/0.73); 2 traffic cones (Small/0.72, Small/0.68); 1 truck (Small/0.52)
[CAM_FRONT]: 3 traffic lights (Small/0.56, Small/0.57, Small/0.69); 1 car (Small/0.48); 1 pickup truck (Med/0.44); 1 van (Small/0.41)
[CAM_FRONT_RIGHT]: 3 traffic lights (Small/0.66, Small/0.53, Small/0.51); 1 car (Small/0.45)
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "intersection",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"red_light"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "stop",
"blocking_factor": "none",
"risk_score": 6
}
|
[
"vru_hazard"
] |
Nighttime urban intersection with red traffic light; pedestrians on sidewalk pose potential crossing hazard, requiring cautious stopping behavior.
|
f7774606bec7410089d84d80f97b6bf6
| -5
|
[
"❌ Action requires blocker"
] |
[CAM_FRONT_LEFT]: 1 car (Large/0.89); 2 persons (Small/0.87, Small/0.83); 1 traffic light (Small/0.57)
[CAM_FRONT]: 1 bus (Med/0.82)
[CAM_FRONT_RIGHT]: 1 person (Small/0.71); 1 concrete barrier (Small/0.52); 1 car (Small/0.41)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"stop_sign"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"vru_hazard"
] |
Urban street with stop sign and pedestrians on sidewalk, requiring cautious slowing to avoid potential crossing.
|
a4cdb23d7f8c4f73b1ceff05c887988a
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 concrete barrier (Med/0.75)
[CAM_FRONT]: 3 persons (Med/0.82, Small/0.56, Small/0.62)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "merge_left",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"stop_sign"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "construction_machinery"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "lane_change",
"blocking_factor": "construction_barrier",
"risk_score": 8
}
|
[
"construction",
"lane_diversion",
"vru_hazard"
] |
Construction zone with static barriers and a worker holding a stop sign, forcing an unprotected lane change to the left.
|
412a6a49f529414c95364de5842795a5
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 bus (Large/0.85); 1 stop sign (Med/0.80); 1 worker in safety vest (Med/0.79); 1 street cleaner (Med/0.70); 1 traffic cone (Small/0.57); 1 road work sign (Med/0.53)
[CAM_FRONT]: 1 plastic bag (Med/0.70); 1 concrete barrier (Large/0.63); 1 semi truck (Med/0.54); 3 traffic cones (Small/0.41, Small/0.46, Small/0.43); 1 orange cone (Small/0.41); 1 car (Small/0.41)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "wet",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"weather_adverse"
] |
Nighttime urban street with wet road surface and limited visibility, requiring cautious speed reduction.
|
350222ca342b46c195ff574af999bd0a
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "intersection",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"red_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "stop",
"blocking_factor": "none",
"risk_score": 2
}
|
[
"intersection_complex"
] |
4-way intersection with red traffic lights, no pedestrians, and nominal drivable conditions.
|
7cde0bde8e1346489d0e8406b3d7bc6a
| -5
|
[
"❌ Action requires blocker"
] |
[CAM_FRONT_LEFT]: 1 van (Med/0.91); 1 pedestrian crossing sign (Small/0.88); 1 concrete barrier (Med/0.52)
[CAM_FRONT]: 2 cars (Small/0.84, Small/0.56); 1 van (Med/0.83); 2 traffic lights (Med/0.55, Med/0.73)
[CAM_FRONT_RIGHT]: 2 cars (Med/0.52, Med/0.48); 1 sedan (Med/0.47); 1 truck (Med/0.41)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"vru_hazard"
] |
Urban street with nominal conditions, but pedestrians on the sidewalk pose low prediction uncertainty risk requiring cautious slow-down.
|
7ec7441ea88645b9be606a5005bab4e4
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 concrete barrier (Med/0.50); 1 person (Small/0.47)
[CAM_FRONT]: 1 semi truck (Small/0.70); 2 sedans (Large/0.56, Med/0.43); 2 cars (Large/0.45, Med/0.45); 1 person (Small/0.42); 1 police car (Med/0.41)
[CAM_FRONT_RIGHT]: 1 car (Med/0.75)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[] |
Clear urban street with green traffic light; nominal traffic flow with lead van and adjacent vehicles moving predictably.
|
7293ddbc5b834c0fa17a8ed1a03e3d1a
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 van (Med/0.79); 1 car (Small/0.55); 1 traffic light (Small/0.47)
[CAM_FRONT_RIGHT]: 1 car (Med/0.77); 1 truck (Large/0.54)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "merge_right",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "lane_change",
"blocking_factor": "construction_barrier",
"risk_score": 5
}
|
[
"construction",
"lane_diversion"
] |
Urban construction zone with static barriers (jersey barrier and cones) blocking the left lane, requiring a merge to the right.
|
5ece1620df164d8b9e8867a9ae1d38b0
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 orange cone (Small/0.44)
[CAM_FRONT]: 1 jersey barrier (Small/0.43)
[CAM_FRONT_RIGHT]: 1 traffic cone (Small/0.62); 2 cars (Med/0.59, Small/0.45)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "intersection",
"lane_configuration": "intersection_4way",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"red_light",
"police_manual"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "police_car"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "stop",
"blocking_factor": "vehicle",
"risk_score": 7
}
|
[
"special_vehicle",
"intersection_complex",
"construction"
] |
Urban intersection with red traffic lights and police car blocking lane, requiring ego vehicle to stop and avoid restricted drivable area.
|
eb2aee021ee94234a96591c073f07039
| 5
|
[
"✅ Construction Grounded",
"✅ Causal Link (Action -> Blocker)"
] |
[CAM_FRONT_LEFT]: 2 traffic lights (Small/0.70, Small/0.40); 1 person (Small/0.67)
[CAM_FRONT]: 1 traffic light (Small/0.42)
[CAM_FRONT_RIGHT]: 1 sedan (Large/0.81); 2 traffic cones (Small/0.69, Small/0.74); 1 police car (Large/0.74); 2 traffic lights (Small/0.73, Small/0.43); 3 persons (Med/0.49, Small/0.44, Small/0.44)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "school_bus"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"construction"
] |
Urban street with pedestrians on the sidewalk, a school bus in the background, and construction barriers on the right side, requiring cautious speed adjustment.
|
336446ad881a4fe6afc3e9a35c1c924d
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 3 persons (Small/0.65, Small/0.65, Small/0.74)
[CAM_FRONT]: 1 person (Small/0.72); 1 car (Small/0.53)
[CAM_FRONT_RIGHT]: 1 traffic barrier (Med/0.46); 1 bus (Med/0.41)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "roundabout",
"drivable_area_status": "nominal",
"traffic_controls": [
"stop_sign"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "stop",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"construction",
"vru_hazard"
] |
Urban construction zone with a roundabout stop sign and roadside workers; moderate risk requiring ego vehicle to stop.
|
fc46571bcec344718034e29c7395667e
| -3
|
[
"✅ Construction Grounded",
"❌ Action requires blocker"
] |
[CAM_FRONT_LEFT]: 1 truck (Large/0.84); 1 road work sign (Med/0.62); 1 stop sign (Med/0.56); 1 street cleaner (Small/0.50)
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: 1 car (Small/0.51)
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "merge_right",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"red_light",
"police_manual"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "stalled",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "police_car"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "stop",
"blocking_factor": "construction_barrier",
"risk_score": 8
}
|
[
"construction",
"special_vehicle",
"lane_diversion"
] |
Active construction zone with concrete barriers and excavators blocking the left lane, police car manually directing traffic, and red traffic light requiring immediate stop.
|
aef432bdd6004dbc847cfb4e6172663d
| 5
|
[
"✅ Construction Grounded",
"✅ Causal Link (Action -> Blocker)"
] |
[CAM_FRONT_LEFT]: 1 construction worker (Med/0.82); 1 excavator (Large/0.67); 2 concrete barriers (Large/0.47, Med/0.41); 1 construction vehicle (Large/0.47); 1 construction fence (Large/0.43)
[CAM_FRONT]: 1 van (Med/0.85); 3 persons (Small/0.50, Small/0.45, Small/0.63); 1 cement mixer (Med/0.60); 1 traffic barrier (Med/0.55); 2 cars (Small/0.47, Small/0.47)
[CAM_FRONT_RIGHT]: 1 police car (Med/0.77); 1 car (Med/0.68); 1 van (Small/0.49)
|
{
"weather": "fog",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "intersection",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"red_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "stalled",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 7
}
|
[
"weather_adverse",
"construction"
] |
Foggy intersection with wet road surface and red traffic light, requiring cautious slowing due to degraded visibility and potential lane obstruction.
|
8920e4fabd9e49e696d0d49300bcebc3
| -5
|
[
"❌ Hallucinated Construction"
] |
[CAM_FRONT_LEFT]: 1 car (Large/0.79)
[CAM_FRONT]: 1 truck (Med/0.85); 1 crosswalk (Med/0.59); 1 van (Small/0.52)
[CAM_FRONT_RIGHT]: 2 traffic lights (Small/0.50, Small/0.55); 1 semi truck (Med/0.51); 1 truck (Med/0.50); 1 car (Small/0.46)
|
{
"weather": "rain",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 6
}
|
[
"weather_adverse"
] |
Rainy urban street with wet road surfaces and droplets on sensors, requiring cautious speed reduction due to potential perception challenges.
|
c4866d65281d46b6844c61e679b9e60b
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 car (Med/0.85)
[CAM_FRONT]: 1 car (Med/0.58); 1 sedan (Med/0.54); 1 van (Small/0.46); 1 pickup truck (Med/0.40)
[CAM_FRONT_RIGHT]: 1 pickup truck (Med/0.80); 1 temporary sign (Small/0.45)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"construction"
] |
Clear urban construction zone with nominal road conditions; pedestrian on sidewalk and parked truck require cautious navigation.
|
a0214502bae94c408f317587614cac49
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 2 cars (Med/0.76, Med/0.60); 1 sedan (Med/0.74); 3 traffic lights (Small/0.71, Small/0.57, Small/0.42); 1 person (Small/0.69)
[CAM_FRONT]: 1 truck (Med/0.71); 1 safety fence (Med/0.51)
[CAM_FRONT_RIGHT]: 1 truck (Large/0.75)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "stalled",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "vehicle",
"risk_score": 4
}
|
[
"special_vehicle"
] |
Urban street with a parked car on the left side, potentially blocking the lane or causing hesitation.
|
a085faf3366241a095a88d527a3fdc1b
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 car (Med/0.85)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"construction"
] |
Clear but wet road in a construction zone with a road work sign; low-confidence vehicle detections necessitate cautious navigation.
|
7290592094a44fc78ba995f880ba0b34
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 suv (Med/0.74); 4 cars (Small/0.40, Small/0.57, Small/0.65)
[CAM_FRONT]: 1 semi truck (Small/0.57); 1 trailer (Small/0.56); 1 road work sign (Small/0.47)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "nominal",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 1
}
|
[
"construction"
] |
Clear urban street with a construction fence on the right side, no lane obstruction, and a confirmed adjacent vehicle moving nominally.
|
a87366de0eec4eef8b8aa70833089826
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: 1 car (Med/0.67); 1 truck (Small/0.60)
[CAM_FRONT_RIGHT]: 1 car (Med/0.86); 1 construction fence (Large/0.50)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"stop_sign",
"yield_sign"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "stop",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"intersection_complex"
] |
Clear urban intersection with conflicting low-confidence traffic sign detections (stop/yield) requiring cautious ego vehicle compliance.
|
96370e41d9004a7cb8b7e3dad3fd6a57
| -5
|
[
"❌ Action requires blocker"
] |
[CAM_FRONT_LEFT]: 3 cars (Med/0.52, Small/0.58, Small/0.55); 1 pickup truck (Med/0.51)
[CAM_FRONT]: 1 yield sign (Small/0.43); 1 pedestrian crossing sign (Small/0.41)
[CAM_FRONT_RIGHT]: 1 stop sign (Med/0.49); 1 yield sign (Med/0.42)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "intersection",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light",
"stop_sign"
]
}
|
{
"vru_status": "legal_crossing",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "pedestrian",
"risk_score": 5
}
|
[
"intersection_complex",
"vru_hazard"
] |
Urban intersection with green light and multiple pedestrians legally crossing, necessitating cautious slowing.
|
72a2b6af1928406b9df454981c8a38ed
| 2
|
[
"✅ VRU Grounded"
] |
[CAM_FRONT_LEFT]: 1 traffic barrier (Med/0.90); 1 concrete barrier (Med/0.77); 1 sedan (Med/0.74)
[CAM_FRONT]: 5 persons (Med/0.78, Med/0.69, Small/0.58); 3 cars (Small/0.55, Small/0.46, Small/0.46)
[CAM_FRONT_RIGHT]: 1 street cleaner (Med/0.58); 1 safety fence (Large/0.53); 1 traffic light (Small/0.47); 1 school zone sign (Small/0.41)
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "pitch_black",
"road_surface_friction": "dry",
"sensor_integrity": "motion_blur"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "cutting_in_aggressive",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "debris",
"risk_score": 8
}
|
[
"sensor_failure",
"fod_debris"
] |
Nighttime urban street with pitch-black lighting and motion-blurred vehicle cutting in aggressively, alongside undetected debris restricting lane.
|
3018c0295fb7498baf1bed6096f8ae13
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "straight",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "construction_machinery"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "slow_down",
"blocking_factor": "construction_barrier",
"risk_score": 7
}
|
[
"construction",
"lane_diversion"
] |
Construction zone with concrete barriers and traffic cones restricting lanes, requiring cautious navigation.
|
fc502409de6947dca3ef5442f8c001d1
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 car (Large/0.81)
[CAM_FRONT]: 1 traffic cone (Small/0.75); 1 concrete barrier (Large/0.51)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "nudge_around_static_obstacle",
"blocking_factor": "construction_barrier",
"risk_score": 5
}
|
[
"construction",
"lane_diversion"
] |
Urban street with concrete barriers on the left side, restricting drivable area and requiring lane change.
|
83c7c252af754edb82e3e6e4a5f42100
| 5
|
[
"✅ Construction Grounded",
"✅ Causal Link (Action -> Blocker)"
] |
[CAM_FRONT_LEFT]: 2 concrete barriers (Large/0.73, Med/0.62)
[CAM_FRONT]: 1 van (Med/0.80); 1 pedestrian crossing sign (Small/0.70); 1 concrete barrier (Med/0.63)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "glare_high",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"red_light",
"yield_sign"
]
}
|
{
"vru_status": "legal_crossing",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "stop",
"blocking_factor": "pedestrian",
"risk_score": 8
}
|
[
"vru_hazard",
"intersection_complex",
"construction"
] |
Urban intersection with glare conditions, multiple pedestrians crossing legally, and red traffic lights requiring ego vehicle to stop.
|
dcbe451d383e450786aaad04ab9d3790
| 7
|
[
"✅ VRU Grounded",
"✅ Construction Grounded",
"✅ Causal Link (Action -> Blocker)"
] |
[CAM_FRONT_LEFT]: 2 cars (Large/0.65, Small/0.58); 1 sedan (Large/0.62); 1 traffic light (Small/0.50)
[CAM_FRONT]: 1 person (Med/0.50); 2 traffic lights (Small/0.43, Small/0.45)
[CAM_FRONT_RIGHT]: 2 traffic lights (Small/0.77, Small/0.82); 6 persons (Med/0.58, Med/0.71, Med/0.60); 1 yield sign (Med/0.66); 1 car (Small/0.62); 1 road work sign (Med/0.55)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "roundabout",
"drivable_area_status": "nominal",
"traffic_controls": [
"yellow_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"intersection_complex"
] |
Urban roundabout with yellow traffic light; no dynamic hazards detected.
|
abad69b7e6194c95b18a054aa082cfb8
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 pickup truck (Small/0.62); 1 car (Small/0.61)
[CAM_FRONT]: 2 cars (Small/0.48, Small/0.59); 2 traffic lights (Small/0.49, Small/0.52); 1 person (Small/0.46)
[CAM_FRONT_RIGHT]: 1 truck (Med/0.55); 1 semi truck (Med/0.47); 1 traffic light (Small/0.46)
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"sensor_failure"
] |
Nighttime urban street with low visibility due to reliance on streetlights, posing moderate perception degradation risk.
|
9121885710864b14b96737077d1d2c0c
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "merge_right",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "construction_machinery"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "lane_change",
"blocking_factor": "construction_barrier",
"risk_score": 8
}
|
[
"construction",
"lane_diversion",
"weather_adverse"
] |
Rainy construction zone with wet road and static barriers (concrete barriers, barrels) closing left lane, forcing a merge right and requiring cautious lane change.
|
19bae631fb39403fa15e7abcf3b84c43
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 2 cars (Large/0.86, Small/0.41); 1 suv (Med/0.63); 1 pickup truck (Small/0.52); 1 van (Small/0.42)
[CAM_FRONT]: 1 concrete barrier (Large/0.75); 1 road work sign (Small/0.46)
[CAM_FRONT_RIGHT]: 1 construction barrel (Med/0.76); 2 temporary signs (Small/0.75, Small/0.62); 1 concrete barrier (Large/0.59)
|
{
"weather": "rain",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "intersection",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"red_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "cutting_in_aggressive",
"special_agent_class": "none"
}
|
{
"primary_challenge": "rule_violation",
"ego_required_action": "emergency_brake",
"blocking_factor": "vehicle",
"risk_score": 8
}
|
[
"intersection_complex",
"weather_adverse"
] |
Rainy urban intersection with red traffic lights, where a moving truck violates traffic rules by entering aggressively, posing high collision risk.
|
b675b4b28bb9442a9009bdf6a1c758f3
| 3
|
[
"✅ Causal Link (Action -> Blocker)"
] |
[CAM_FRONT_LEFT]: 1 construction fence (Med/0.76); 1 pickup truck (Small/0.50); 1 traffic barrier (Med/0.42)
[CAM_FRONT]: 1 ambulance (Med/0.61); 1 truck (Med/0.61); 1 van (Med/0.57); 1 semi truck (Med/0.57); 2 traffic lights (Small/0.50, Small/0.43); 1 car (Small/0.43)
[CAM_FRONT_RIGHT]: 2 traffic lights (Small/0.41, Small/0.42)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"vru_hazard"
] |
Clear urban street with school zone sign indicating potential VRU hazard, requiring cautious speed reduction.
|
7a5d086b763a4f0f871eb6f6691794ff
| 0
|
[] |
[CAM_FRONT_LEFT]: 3 cars (Large/0.81, Med/0.44, Small/0.53); 2 pickup trucks (Med/0.49, Med/0.58)
[CAM_FRONT]: 1 school zone sign (Med/0.63); 1 temporary sign (Med/0.48); 1 pickup truck (Med/0.46); 1 car (Small/0.44)
[CAM_FRONT_RIGHT]: 1 pickup truck (Med/0.75)
|
{
"weather": "heavy_rain",
"time_of_day": "day",
"lighting_condition": "glare_high",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 7
}
|
[
"weather_adverse"
] |
Urban intersection with heavy rain, wet road surface, and reduced visibility due to glare, requiring cautious speed adjustment.
|
2f5248eac5d1492cb24c06b6f7a937be
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 car (Med/0.77)
[CAM_FRONT]: 1 traffic light (Small/0.70); 1 bus (Med/0.64); 2 cars (Med/0.51, Med/0.55); 1 truck (Med/0.51)
[CAM_FRONT_RIGHT]: 1 bus (Small/0.59); 1 school zone sign (Small/0.54); 1 car (Small/0.52); 1 van (Small/0.46); 1 temporary sign (Small/0.45); 1 traffic light (Small/0.42)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "police_car"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"special_vehicle"
] |
Clear urban street with police vehicle in lead position, no active VRU hazards, and nominal traffic conditions.
|
534aec4b051e4294ab05854f5b799a7b
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 car (Large/0.61); 1 traffic light (Small/0.54); 1 person (Small/0.52); 1 police vehicle (Large/0.46)
[CAM_FRONT]: 1 police vehicle (Med/0.73); 1 van (Med/0.59); 1 bus (Med/0.55); 1 street cleaner (Small/0.49)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "curve",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "nominal",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[] |
Clear urban street with a rightward curve, adjacent trucks detected with low-confidence hypotheses rejected; ego must slow down for safe navigation.
|
cae4f451fd064d37aede4dea32c12855
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 bus (Small/0.79)
[CAM_FRONT]: 1 truck (Med/0.72)
[CAM_FRONT_RIGHT]: 1 truck (Med/0.79); 1 pickup truck (Med/0.48)
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"weather_adverse",
"sensor_failure"
] |
Nighttime urban street with limited visibility due to low streetlight illumination, requiring cautious driving.
|
dc2def2a7bc94693b67eba2ffbe13a56
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"sensor_failure"
] |
Clear urban street with low-confidence detections of distant scaffolding and car; perception uncertainty requires cautious lane-keeping.
|
f894634842c34825a6a71b655f061b19
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 scaffolding (Med/0.52)
[CAM_FRONT]: 1 car (Small/0.50)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"sensor_failure"
] |
Urban street with parked cars detected at low confidence, indicating potential perception degradation.
|
1c5c64c78f3041d594cf61dfba83f236
| 0
|
[] |
[CAM_FRONT_LEFT]: 3 cars (Small/0.55, Small/0.45, Small/0.49)
[CAM_FRONT]: 1 car (Small/0.51)
[CAM_FRONT_RIGHT]: 7 cars (Med/0.64, Small/0.51, Small/0.49)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"construction"
] |
Urban street with construction barriers; low-confidence YOLO detections on bus and pickup truck require cautious slowing.
|
bb70d5b1724544c9a5f53e124b6e798c
| -5
|
[
"❌ Hallucinated Construction"
] |
[CAM_FRONT_LEFT]: 1 car (Med/0.75)
[CAM_FRONT]: 1 bus (Med/0.56); 1 pickup truck (Med/0.48)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 6
}
|
[
"weather_adverse"
] |
Urban intersection at night with wet road surface and droplets on lens, requiring cautious speed reduction due to degraded sensor conditions.
|
d47623a57d094abc9e63f44508299c03
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 bus (Small/0.69); 1 speed limit sign (Small/0.61)
[CAM_FRONT]: 3 cars (Med/0.73, Med/0.84, Small/0.49); 1 bus (Small/0.83); 1 person (Small/0.46)
[CAM_FRONT_RIGHT]: 1 bus (Med/0.90); 2 cars (Med/0.75, Med/0.73); 1 speed limit sign (Small/0.43); 1 person (Small/0.43)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "slow_down",
"blocking_factor": "construction_barrier",
"risk_score": 6
}
|
[
"vru_hazard",
"construction",
"lane_diversion"
] |
Urban street with a traffic cone and school zone sign restricting drivable area, requiring cautious lane-keeping and speed reduction.
|
f1e0317b4963452e9cbd3aaa7ebe7579
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 truck (Med/0.78); 2 persons (Med/0.75, Med/0.72); 1 suv (Med/0.62)
[CAM_FRONT]: 2 cars (Med/0.73, Small/0.41); 2 pickup trucks (Med/0.55, Med/0.64); 3 trucks (Med/0.59, Med/0.47, Small/0.44); 2 suvs (Med/0.57, Small/0.42); 1 trailer (Small/0.41)
[CAM_FRONT_RIGHT]: 1 traffic cone (Med/0.92); 1 pickup truck (Large/0.90); 1 car (Med/0.81); 1 school zone sign (Small/0.65)
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "motion_blur"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "straight",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "slow_down",
"blocking_factor": "construction_barrier",
"risk_score": 6
}
|
[
"construction",
"lane_diversion"
] |
Construction zone with static barriers and road work signs restricting left lane, requiring cautious lane-keeping and reduced speed.
|
8c5c08c818d247ee9de5aa08e6762003
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 traffic barrier (Med/0.59); 1 road work sign (Med/0.45)
[CAM_FRONT]: 3 cars (Med/0.82, Small/0.75, Small/0.58); 3 persons (Small/0.67, Small/0.63, Small/0.56); 1 road work sign (Med/0.41)
[CAM_FRONT_RIGHT]: 1 road work sign (Med/0.51)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"red_light"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "stop",
"blocking_factor": "none",
"risk_score": 1
}
|
[] |
Clear urban intersection with red light; no dynamic hazards detected, but static pedestrian presence near sign.
|
3c375f35037645aeb036297968fd60c4
| -5
|
[
"❌ Action requires blocker"
] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: 1 street cleaner (Small/0.43)
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "wet",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 3
}
|
[
"weather_adverse"
] |
Nighttime urban street with wet road surface and low visibility due to darkness and reliance on streetlights, requiring cautious speed reduction.
|
d3c2b0a3d30145159453681bc6b5b4e5
| 0
|
[] |
[CAM_FRONT_LEFT]: Clear
[CAM_FRONT]: Clear
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 1
}
|
[] |
Clear urban street with no active hazards. Multiple vehicles (trucks, buses) detected in adjacent lanes with no aggressive behavior.
|
7d82b0e4b4104d9abaf15eb33719d97a
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 truck (Med/0.92); 1 concrete barrier (Med/0.65); 1 person (Small/0.40)
[CAM_FRONT]: 1 street cleaner (Small/0.67)
[CAM_FRONT_RIGHT]: 2 buss (Med/0.78, Med/0.49); 1 truck (Med/0.73); 1 semi truck (Med/0.52)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "nominal",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[] |
Clear urban street with no dynamic hazards; a pedestrian stands statically beside a parked bus.
|
7b4e72598a6b432b86d2696f6a03fcd2
| 0
|
[] |
[CAM_FRONT_LEFT]: 2 persons (Small/0.65, Small/0.54); 1 concrete barrier (Med/0.52)
[CAM_FRONT]: 1 bus (Med/0.62); 1 police vehicle (Med/0.54); 1 car (Small/0.40)
[CAM_FRONT_RIGHT]: 1 car (Large/0.83)
|
{
"weather": "clear",
"time_of_day": "night",
"lighting_condition": "streetlights_only",
"road_surface_friction": "dry",
"sensor_integrity": "motion_blur"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"vru_hazard"
] |
Nighttime urban street with pedestrians on sidewalk and distant vehicles, requiring cautious slowing due to potential crossing hazards.
|
4036ddd62a8a491f98c96502651ef157
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 person (Med/0.81)
[CAM_FRONT]: 2 cars (Small/0.85, Small/0.68); 2 persons (Small/0.60, Small/0.68)
[CAM_FRONT_RIGHT]: 1 pedestrian crossing sign (Small/0.58)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"yellow_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "police_car"
}
|
{
"primary_challenge": "none",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 4
}
|
[
"special_vehicle"
] |
Urban intersection with yellow traffic light and parked police car on the right, requiring cautious slowing.
|
65a8ef19da634de79e11e8ae1e127947
| 0
|
[] |
[CAM_FRONT_LEFT]: 1 car (Med/0.77); 1 sedan (Med/0.75); 2 traffic lights (Small/0.66, Small/0.47); 1 suv (Med/0.58); 1 van (Small/0.57)
[CAM_FRONT]: 1 sedan (Med/0.53); 1 pickup truck (Med/0.51); 1 traffic light (Small/0.44)
[CAM_FRONT_RIGHT]: 1 traffic light (Small/0.61); 1 sedan (Med/0.60); 1 police car (Med/0.59); 1 car (Med/0.56); 1 suv (Med/0.50)
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "curve",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"stop_sign"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "stop",
"blocking_factor": "none",
"risk_score": 6
}
|
[
"weather_adverse",
"sensor_failure"
] |
Overcast urban street with wet road surface and sensor degradation from droplets on lens, requiring vehicle to stop at a clearly visible stop sign.
|
e57fa7124f6741e697b1841bc023a90f
| -5
|
[
"❌ Action requires blocker"
] |
[CAM_FRONT_LEFT]: 1 concrete barrier (Med/0.69); 1 safety fence (Large/0.42)
[CAM_FRONT]: 1 stop sign (Small/0.85); 1 car (Small/0.41)
[CAM_FRONT_RIGHT]: Clear
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"construction"
] |
Urban street with multiple traffic cones near the lanes, indicating a temporary construction or obstruction requiring cautious navigation.
|
fc7f3434034b4b428a508d7991879307
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 car (Med/0.78); 3 traffic cones (Small/0.51, Small/0.59, Small/0.54)
[CAM_FRONT]: 2 pickup trucks (Med/0.92, Med/0.88); 4 traffic cones (Small/0.58, Small/0.62, Small/0.68); 2 cars (Small/0.58, Small/0.45)
[CAM_FRONT_RIGHT]: 1 pickup truck (Med/0.81); 1 bus (Med/0.52); 1 person (Small/0.50)
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "wet",
"sensor_integrity": "droplets_on_lens"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"red_light"
]
}
|
{
"vru_status": "none",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "perception_degradation",
"ego_required_action": "stop",
"blocking_factor": "none",
"risk_score": 5
}
|
[
"weather_adverse",
"intersection_complex"
] |
Urban intersection with overcast weather and wet road surface, causing perception degradation; red traffic light requires ego vehicle to stop.
|
c32fa2ed4fb645a1acaa81d08300ff55
| -5
|
[
"❌ Action requires blocker"
] |
[CAM_FRONT_LEFT]: 4 cars (Small/0.65, Small/0.80, Small/0.44); 1 traffic light (Small/0.66)
[CAM_FRONT]: 1 suv (Small/0.56); 1 traffic light (Small/0.41)
[CAM_FRONT_RIGHT]: 1 car (Med/0.63)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "straight",
"drivable_area_status": "nominal",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "none",
"ego_required_action": "lane_keep",
"blocking_factor": "none",
"risk_score": 2
}
|
[] |
Urban street during daylight with parked cars and static pedestrians on the sidewalk, no immediate hazards detected.
|
ae16009cac6f4ff9ad4748088427c927
| 0
|
[] |
[CAM_FRONT_LEFT]: 5 cars (Med/0.84, Med/0.84, Med/0.86); 3 suvs (Med/0.83, Med/0.45, Med/0.75)
[CAM_FRONT]: 4 cars (Med/0.52, Med/0.53, Small/0.67); 1 suv (Med/0.45)
[CAM_FRONT_RIGHT]: 5 cars (Small/0.79, Small/0.59, Small/0.48); 1 van (Med/0.69); 1 concrete barrier (Med/0.62); 3 persons (Small/0.45, Small/0.60, Small/0.62); 1 suv (Small/0.60)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "urban_street",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"green_light"
]
}
|
{
"vru_status": "legal_crossing",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "none",
"risk_score": 6
}
|
[
"vru_hazard",
"construction",
"school_zone"
] |
Urban intersection with school zone signage and pedestrians legally crossing in front of the ego vehicle, requiring cautious speed reduction.
|
4ba71997d1f64163a062028b69ea35fd
| 4
|
[
"✅ VRU Grounded",
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 van (Med/0.84); 1 traffic light (Small/0.71); 1 jersey barrier (Med/0.71); 1 car (Small/0.57); 1 stop sign (Small/0.48); 1 concrete barrier (Med/0.46)
[CAM_FRONT]: 1 car (Med/0.80); 1 pedestrian crossing sign (Small/0.45)
[CAM_FRONT_RIGHT]: 1 van (Small/0.59); 1 school zone sign (Small/0.50); 1 car (Large/0.49); 1 sedan (Large/0.48); 1 traffic cone (Small/0.47); 1 temporary sign (Small/0.43); 1 pedestrian crossing sign (Small/0.42); 1 jersey barrier (Med/0.42)
|
{
"weather": "overcast",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "intersection",
"lane_configuration": "intersection_4way",
"drivable_area_status": "nominal",
"traffic_controls": [
"yield_sign"
]
}
|
{
"vru_status": "jaywalking_hesitant",
"lead_vehicle_behavior": "nominal",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "construction_machinery"
}
|
{
"primary_challenge": "prediction_uncertainty",
"ego_required_action": "slow_down",
"blocking_factor": "pedestrian",
"risk_score": 6
}
|
[
"vru_hazard",
"intersection_complex",
"special_vehicle"
] |
Urban intersection with a pedestrian hesitating near the crosswalk and a large construction truck present, requiring cautious slowing.
|
82857c98b5cd44a28570748e8390f1bf
| 2
|
[
"✅ VRU Grounded"
] |
[CAM_FRONT_LEFT]: 1 pedestrian crossing sign (Small/0.60); 1 concrete barrier (Large/0.55)
[CAM_FRONT]: 2 cars (Med/0.77, Small/0.63); 1 person (Small/0.73); 1 sedan (Med/0.71)
[CAM_FRONT_RIGHT]: 1 truck (Large/0.88); 1 sedan (Med/0.61); 1 car (Med/0.61); 1 street cleaner (Small/0.50); 1 person (Small/0.42)
|
{
"weather": "clear",
"time_of_day": "day",
"lighting_condition": "nominal",
"road_surface_friction": "dry",
"sensor_integrity": "nominal"
}
|
{
"scene_type": "construction_zone",
"lane_configuration": "straight",
"drivable_area_status": "restricted_by_static_obstacle",
"traffic_controls": [
"none"
]
}
|
{
"vru_status": "roadside_static",
"lead_vehicle_behavior": "none",
"adjacent_vehicle_behavior": "none",
"special_agent_class": "none"
}
|
{
"primary_challenge": "violation_of_map_topology",
"ego_required_action": "slow_down",
"blocking_factor": "construction_barrier",
"risk_score": 5
}
|
[
"construction",
"lane_diversion"
] |
Urban street with partial construction zone blocking the right lane; VRU on sidewalk poses no immediate hazard.
|
941ff1822f45402f89f33c547e6b0dae
| 2
|
[
"✅ Construction Grounded"
] |
[CAM_FRONT_LEFT]: 1 sedan (Med/0.65); 1 bus (Large/0.50)
[CAM_FRONT]: 1 traffic cone (Small/0.62); 1 scooter rider (Small/0.56); 1 person (Small/0.56); 1 car (Small/0.46)
[CAM_FRONT_RIGHT]: 1 person (Small/0.47)
|
End of preview.
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