{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/2e9a8a05bbe6ef1e53fc140d875c0500-147/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2e9a8a05bbe6ef1e53fc140d875c0500-147/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2e9a8a05bbe6ef1e53fc140d875c0500-147/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.330 m/s at x-direction and -0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.386 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2e9a8a05bbe6ef1e53fc140d875c0500-147"}},"extra_info":{"index":0,"token":"waymo_e2e::2e9a8a05bbe6ef1e53fc140d875c0500-147","id":"waymo_e2e::2e9a8a05bbe6ef1e53fc140d875c0500-147","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.20,-0.28), (2.38,-0.82), (3.52,-1.62), (4.58,-2.67), (5.57,-3.93), (6.50,-5.36), (7.41,-6.92), (8.30,-8.57), (9.18,-10.27), (10.04,-12.02)]\nOption B\n  waypoints xy: [(3.65,-0.01), (7.30,-0.01), (10.95,-0.02), (14.60,-0.04), (18.25,-0.05), (21.91,-0.06), (25.57,-0.07), (29.26,-0.07), (32.94,-0.07), (36.66,-0.08)]\nOption C\n  waypoints xy: [(9.26,-0.01), (18.42,-0.02), (27.48,-0.04), (36.44,-0.05), (45.30,-0.05), (54.07,-0.03), (62.70,-0.01), (71.11,0.00), (79.34,-0.01), (87.40,-0.03)]\nOption D\n  waypoints xy: [(0.24,-0.02), (0.66,-0.06), (1.40,-0.20), (2.49,-0.53), (3.84,-1.24), (5.26,-2.47), (6.52,-4.29), (7.53,-6.67), (8.30,-9.55), (8.95,-12.90)]\nOption E\n  waypoints xy: [(6.24,-0.00), (12.49,0.00), (18.72,0.01), (24.91,0.04), (30.99,0.07), (36.85,0.09), (42.41,0.12), (47.66,0.16), (52.59,0.20), (57.20,0.25)]\nOption F\n  waypoints xy: [(3.28,-0.01), (6.30,-0.01), (8.99,-0.02), (11.28,-0.03), (13.10,-0.03), (14.41,-0.03), (15.21,-0.03), (15.57,-0.03), (15.66,-0.03), (15.67,-0.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.330237620196918,"cv_gap":21.151}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"S8UYBVvbcA","cam_id":"4_resize","sample_timestamps":["000000009806_000450000000","000000009806_000700000000","000000009806_000950000000","000000009807_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009807_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"S8UYBVvbcA","cam_id":"2","sample_timestamps":["000000009805_000700000000","000000009806_000200000000","000000009806_000700000000","000000009807_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009807_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"S8UYBVvbcA","cam_id":"7","sample_timestamps":["000000009805_000700000000","000000009806_000200000000","000000009806_000700000000","000000009807_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009807_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"S8UYBVvbcA"}},"extra_info":{"index":1,"token":"S8UYBVvbcA","id":"S8UYBVvbcA","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.99,0.00), (1.71,0.00), (2.19,0.01), (2.44,0.01), (2.53,0.01), (2.56,0.01), (2.56,0.01), (2.57,0.01), (2.58,0.01), (2.64,0.01)]\nOption B\n  waypoints xy: [(1.53,0.00), (3.07,0.01), (4.65,0.01), (6.20,0.02), (7.71,0.03), (9.17,0.04), (10.62,0.06), (12.09,0.07), (13.60,0.10), (15.13,0.14)]\nOption C\n  waypoints xy: [(6.02,-0.01), (11.91,-0.01), (17.66,-0.00), (23.29,0.02), (28.82,0.05), (34.25,0.09), (39.58,0.12), (44.79,0.14), (49.83,0.16), (54.73,0.20)]\nOption D\n  waypoints xy: [(4.54,-0.01), (8.91,-0.02), (13.08,-0.03), (17.02,-0.05), (20.69,-0.07), (24.07,-0.09), (27.11,-0.11), (29.80,-0.15), (32.12,-0.20), (34.06,-0.29)]\nOption E\n  waypoints xy: [(5.32,-0.08), (10.66,-0.27), (16.02,-0.57), (21.42,-0.95), (26.89,-1.41), (32.42,-1.98), (38.04,-2.70), (43.72,-3.58), (49.47,-4.57), (55.28,-5.62)]\nOption F\n  waypoints xy: [(6.82,0.00), (13.66,0.01), (20.49,0.03), (27.32,0.05), (34.12,0.07), (40.92,0.09), (47.72,0.11), (54.53,0.13), (61.33,0.15), (68.10,0.16)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.0,"cv_gap":12.334}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-017/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-017/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-017/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.530 m/s at x-direction and -0.009 m/s at y-direction. The ego vehicle's current acceleration is -0.371 m/s^2 at x-direction and -0.031 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-017"}},"extra_info":{"index":2,"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-017","id":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-017","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.42,0.00), (12.90,0.07), (19.43,0.14), (26.00,0.22), (32.65,0.29), (39.38,0.37), (46.22,0.51), (53.09,0.59), (59.92,0.66), (66.62,0.74)]\nOption B\n  waypoints xy: [(5.23,-0.00), (10.48,-0.01), (15.74,-0.00), (21.02,-0.00), (26.30,0.00), (31.58,0.01), (36.85,0.01), (42.12,0.01), (47.36,0.02), (52.59,0.02)]\nOption C\n  waypoints xy: [(1.06,-0.16), (2.42,-0.56), (4.00,-1.31), (5.68,-2.55), (7.26,-4.34), (8.55,-6.72), (9.63,-9.64), (10.62,-13.04), (11.60,-16.87), (12.64,-21.03)]\nOption D\n  waypoints xy: [(4.87,-0.02), (9.26,-0.05), (13.09,-0.07), (16.28,-0.10), (18.84,-0.12), (20.77,-0.13), (22.16,-0.14), (23.19,-0.15), (23.93,-0.16), (24.47,-0.17)]\nOption E\n  waypoints xy: [(9.01,0.09), (17.96,0.35), (26.83,0.76), (35.62,1.32), (44.31,1.95), (52.91,2.67), (61.41,3.42), (69.82,4.21), (78.12,5.03), (86.29,5.86)]\nOption F\n  waypoints xy: [(2.03,-0.48), (3.99,-1.31), (5.92,-2.39), (7.79,-3.72), (9.58,-5.30), (11.42,-7.04), (13.28,-8.92), (15.25,-10.90), (17.32,-12.91), (19.43,-14.86)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.530020533328479,"cv_gap":29.23}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"8sQPVmouKl","cam_id":"4_resize","sample_timestamps":["000000013339_000900000000","000000013340_000400000000","000000013340_000900000000","000000013341_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000013341_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8sQPVmouKl","cam_id":"2","sample_timestamps":["000000013339_000900000000","000000013340_000400000000","000000013340_000900000000","000000013341_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000013341_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8sQPVmouKl","cam_id":"7","sample_timestamps":["000000013339_000900000000","000000013340_000400000000","000000013340_000900000000","000000013341_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000013341_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.600 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"8sQPVmouKl"}},"extra_info":{"index":3,"token":"8sQPVmouKl","id":"8sQPVmouKl","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.73,0.00), (1.26,0.00), (1.60,0.00), (1.78,0.00), (1.84,0.00), (1.86,0.00), (1.87,0.00), (1.88,0.00), (1.90,0.00), (1.93,0.00)]\nOption B\n  waypoints xy: [(6.85,-0.07), (13.65,-0.39), (20.44,-0.86), (27.25,-1.35), (34.06,-2.08), (40.83,-2.97), (47.58,-3.86), (54.29,-4.90), (60.94,-5.94), (67.51,-7.03)]\nOption C\n  waypoints xy: [(1.26,-0.01), (2.50,-0.02), (3.72,-0.03), (4.95,-0.05), (6.18,-0.08), (7.42,-0.11), (8.69,-0.15), (9.97,-0.19), (11.28,-0.24), (12.58,-0.30)]\nOption D\n  waypoints xy: [(5.80,-0.16), (11.71,-0.52), (17.69,-1.06), (23.69,-1.75), (29.65,-2.59), (35.54,-3.55), (41.33,-4.64), (47.02,-5.84), (52.59,-7.12), (58.02,-8.50)]\nOption E\n  waypoints xy: [(3.91,0.01), (7.93,0.04), (12.06,0.10), (16.30,0.18), (20.61,0.26), (25.01,0.37), (29.48,0.49), (33.97,0.62), (38.48,0.79), (42.99,0.97)]\nOption F\n  waypoints xy: [(4.55,0.05), (9.09,0.20), (13.60,0.41), (18.11,0.72), (22.63,1.13), (27.15,1.60), (31.67,2.17), (36.18,2.84), (40.72,3.57), (45.27,4.40)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.5,"cv_gap":10.412}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-018/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-018/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-018/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.347 m/s at x-direction and -0.001 m/s at y-direction. The ego vehicle's current acceleration is -0.379 m/s^2 at x-direction and -0.022 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-018"}},"extra_info":{"index":4,"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-018","id":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-018","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(9.41,-0.03), (18.86,-0.08), (28.36,-0.19), (37.87,-0.30), (47.39,-0.46), (56.93,-0.67), (66.51,-0.92), (76.15,-1.23), (85.87,-1.56), (95.65,-1.96)]\nOption B\n  waypoints xy: [(5.15,-0.00), (10.31,-0.01), (15.49,-0.00), (20.67,-0.00), (25.85,0.01), (31.05,0.03), (36.25,0.06), (41.46,0.09), (46.67,0.14), (51.87,0.19)]\nOption C\n  waypoints xy: [(4.77,-0.02), (9.05,-0.05), (12.75,-0.08), (15.82,-0.10), (18.26,-0.12), (20.08,-0.14), (21.40,-0.15), (22.38,-0.16), (23.07,-0.17), (23.57,-0.17)]\nOption D\n  waypoints xy: [(2.32,0.16), (4.57,0.64), (6.74,1.36), (8.84,2.35), (10.89,3.55), (12.85,4.99), (14.71,6.68), (16.38,8.64), (17.93,10.92), (19.28,13.55)]\nOption E\n  waypoints xy: [(-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,0.00)]\nOption F\n  waypoints xy: [(1.11,0.08), (2.57,0.32), (4.35,0.85), (6.34,1.82), (8.37,3.34), (10.24,5.45), (11.81,8.13), (12.99,11.28), (13.84,14.81), (14.42,18.63)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.34689523660755,"cv_gap":29.359}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"qDfOKZ8SPk","cam_id":"4_resize","sample_timestamps":["000000008638_000100000000","000000008638_000600000000","000000008639_000100000000","000000008639_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000008639_000650000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"qDfOKZ8SPk","cam_id":"2","sample_timestamps":["000000008638_000100000000","000000008638_000600000000","000000008639_000100000000","000000008639_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000008639_000650000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"qDfOKZ8SPk","cam_id":"7","sample_timestamps":["000000008638_000100000000","000000008638_000600000000","000000008639_000100000000","000000008639_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000008639_000650000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with a deceleration**. The ego vehicle's current velocity is 8.100 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and 0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"qDfOKZ8SPk"}},"extra_info":{"index":5,"token":"qDfOKZ8SPk","id":"qDfOKZ8SPk","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.09,-0.10), (2.30,-0.38), (3.54,-0.89), (4.77,-1.70), (5.91,-2.80), (6.93,-4.20), (7.80,-5.86), (8.55,-7.76), (9.19,-9.81), (9.77,-11.95)]\nOption B\n  waypoints xy: [(9.36,-0.00), (18.65,-0.01), (27.87,-0.01), (37.02,-0.02), (46.09,-0.02), (55.08,-0.02), (63.99,-0.03), (72.84,-0.04), (81.59,-0.06), (90.23,-0.06)]\nOption C\n  waypoints xy: [(3.72,-0.02), (7.03,-0.05), (9.85,-0.09), (12.11,-0.13), (13.73,-0.17), (14.71,-0.20), (15.16,-0.22), (15.29,-0.22), (15.31,-0.23), (15.35,-0.23)]\nOption D\n  waypoints xy: [(0.88,-0.31), (1.74,-0.79), (2.64,-1.46), (3.59,-2.31), (4.60,-3.36), (5.71,-4.60), (6.86,-6.05), (8.01,-7.71), (9.19,-9.57), (10.44,-11.58)]\nOption E\n  waypoints xy: [(5.07,-0.00), (10.24,0.01), (15.55,0.02), (21.01,0.05), (26.59,0.09), (32.24,0.14), (37.89,0.22), (43.52,0.30), (49.06,0.38), (54.47,0.46)]\nOption F\n  waypoints xy: [(3.92,-0.03), (7.89,-0.12), (11.91,-0.25), (15.98,-0.43), (20.08,-0.64), (24.21,-0.88), (28.33,-1.14), (32.43,-1.41), (36.48,-1.68), (40.50,-1.94)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.105553651663778,"cv_gap":25.211}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/05880d1cc5c996ae371bd53bb8a941c3-037/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/05880d1cc5c996ae371bd53bb8a941c3-037/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/05880d1cc5c996ae371bd53bb8a941c3-037/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.596 m/s at x-direction and -0.023 m/s at y-direction. The ego vehicle's current acceleration is -0.247 m/s^2 at x-direction and 0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::05880d1cc5c996ae371bd53bb8a941c3-037"}},"extra_info":{"index":6,"token":"waymo_e2e::05880d1cc5c996ae371bd53bb8a941c3-037","id":"waymo_e2e::05880d1cc5c996ae371bd53bb8a941c3-037","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.83,-0.00), (13.77,-0.00), (20.83,0.01), (28.00,0.02), (35.28,0.03), (42.63,0.04), (50.05,0.04), (57.52,0.06), (65.04,0.06), (72.59,0.07)]\nOption B\n  waypoints xy: [(5.87,-0.02), (12.07,-0.08), (18.54,-0.17), (25.25,-0.24), (32.19,-0.32), (39.34,-0.40), (46.68,-0.48), (54.09,-0.54), (61.57,-0.58), (69.10,-0.61)]\nOption C\n  waypoints xy: [(1.63,-0.42), (3.21,-1.18), (4.62,-2.27), (5.85,-3.59), (6.94,-5.06), (7.92,-6.58), (8.84,-8.08), (9.75,-9.56), (10.67,-11.10), (11.63,-12.69)]\nOption D\n  waypoints xy: [(3.65,-0.01), (7.00,-0.02), (9.89,-0.02), (12.33,-0.03), (14.29,-0.04), (15.76,-0.05), (16.74,-0.06), (17.18,-0.06), (17.20,-0.07), (17.21,-0.07)]\nOption E\n  waypoints xy: [(0.21,0.01), (0.56,0.03), (1.22,0.08), (2.33,0.24), (3.90,0.65), (5.84,1.52), (7.91,3.01), (9.89,5.18), (11.57,8.00), (12.89,11.34)]\nOption F\n  waypoints xy: [(3.90,-0.00), (7.74,-0.01), (11.54,-0.01), (15.30,-0.03), (19.05,-0.04), (22.78,-0.06), (26.54,-0.09), (30.32,-0.12), (34.14,-0.14), (37.96,-0.17)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.596204856070535,"cv_gap":20.607}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"bwml5xg033","cam_id":"4_resize","sample_timestamps":["000000000415_000000000000","000000000415_000500000000","000000000416_000000000000","000000000416_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000416_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bwml5xg033","cam_id":"2","sample_timestamps":["000000000415_000000000000","000000000415_000500000000","000000000416_000000000000","000000000416_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000416_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bwml5xg033","cam_id":"7","sample_timestamps":["000000000415_000000000000","000000000415_000500000000","000000000416_000000000000","000000000416_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000416_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with an acceleration**. The ego vehicle's current velocity is 5.600 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and 0.800 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"bwml5xg033"}},"extra_info":{"index":7,"token":"bwml5xg033","id":"bwml5xg033","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.04,-0.00), (3.86,-0.01), (5.44,-0.01), (6.79,-0.01), (7.90,-0.01), (8.78,-0.01), (9.41,-0.01), (9.83,-0.01), (10.10,-0.02), (10.32,-0.02)]\nOption B\n  waypoints xy: [(7.69,0.01), (15.25,0.04), (22.63,0.07), (29.76,0.11), (36.58,0.16), (43.06,0.21), (49.13,0.25), (54.74,0.25), (59.89,0.16), (64.60,-0.03)]\nOption C\n  waypoints xy: [(5.47,-0.12), (11.05,-0.12), (16.61,-0.06), (22.01,0.12), (27.23,0.36), (32.32,0.58), (37.30,0.92), (42.14,1.43), (46.88,1.87), (51.56,2.36)]\nOption D\n  waypoints xy: [(2.80,-0.04), (5.62,-0.13), (8.44,-0.28), (11.25,-0.49), (14.05,-0.75), (16.82,-1.02), (19.57,-1.29), (22.29,-1.54), (25.00,-1.77), (27.68,-1.98)]\nOption E\n  waypoints xy: [(12.67,-0.16), (25.32,-0.56), (38.03,-1.14), (50.84,-2.02), (63.72,-3.24), (76.64,-4.86), (89.53,-6.85), (102.36,-9.17), (115.15,-11.73), (127.88,-14.59)]\nOption F\n  waypoints xy: [(6.22,0.03), (12.67,0.08), (19.34,0.18), (26.21,0.29), (33.29,0.43), (40.56,0.58), (48.01,0.76), (55.60,0.97), (63.30,1.19), (71.10,1.41)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.60802995712398,"cv_gap":17.902}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/a6083990380c127732766a0a83a61c84-171/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a6083990380c127732766a0a83a61c84-171/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a6083990380c127732766a0a83a61c84-171/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.148 m/s at x-direction and -0.035 m/s at y-direction. The ego vehicle's current acceleration is 0.005 m/s^2 at x-direction and 0.147 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::a6083990380c127732766a0a83a61c84-171"}},"extra_info":{"index":8,"token":"waymo_e2e::a6083990380c127732766a0a83a61c84-171","id":"waymo_e2e::a6083990380c127732766a0a83a61c84-171","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.34,-0.01), (6.66,-0.04), (9.90,-0.15), (13.04,-0.36), (16.02,-0.62), (18.80,-0.89), (21.32,-1.11), (23.53,-1.28), (25.33,-1.38), (26.64,-1.45)]\nOption B\n  waypoints xy: [(2.36,0.01), (4.77,0.02), (7.25,0.04), (9.83,0.07), (12.49,0.11), (15.23,0.16), (18.02,0.22), (20.87,0.29), (23.76,0.37), (26.68,0.45)]\nOption C\n  waypoints xy: [(2.14,0.27), (4.39,0.92), (6.64,2.07), (8.73,3.76), (10.51,5.97), (11.90,8.63), (12.91,11.66), (13.65,14.98), (14.23,18.52), (14.72,22.25)]\nOption D\n  waypoints xy: [(2.01,0.00), (4.05,0.01), (6.09,0.01), (8.14,0.01), (10.20,0.01), (12.27,0.01), (14.39,-0.00), (16.56,-0.01), (18.81,-0.01), (21.12,-0.02)]\nOption E\n  waypoints xy: [(10.10,0.02), (20.16,0.04), (30.21,0.09), (40.25,0.12), (50.30,0.16), (60.37,0.20), (70.47,0.27), (80.63,0.35), (90.88,0.45), (101.22,0.62)]\nOption F\n  waypoints xy: [(4.64,0.00), (9.19,0.01), (13.62,0.02), (17.91,0.04), (22.05,0.07), (26.01,0.09), (29.74,0.11), (33.25,0.13), (36.50,0.16), (39.50,0.17)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.14819105041715,"cv_gap":22.87}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-105/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-105/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-105/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 9.051 m/s at x-direction and -0.033 m/s at y-direction. The ego vehicle's current acceleration is -0.385 m/s^2 at x-direction and 0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-105"}},"extra_info":{"index":9,"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-105","id":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-105","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.37,-0.34), (2.67,-0.99), (3.84,-1.93), (4.87,-3.17), (5.73,-4.66), (6.48,-6.39), (7.17,-8.33), (7.85,-10.48), (8.54,-12.82), (9.27,-15.33)]\nOption B\n  waypoints xy: [(7.23,0.04), (14.42,0.14), (21.60,0.33), (28.76,0.56), (35.92,0.84), (43.05,1.17), (50.17,1.56), (57.23,2.02), (64.23,2.56), (71.19,3.18)]\nOption C\n  waypoints xy: [(1.56,-0.39), (3.07,-1.11), (4.46,-2.15), (5.70,-3.45), (6.78,-4.94), (7.74,-6.53), (8.66,-8.18), (9.56,-9.91), (10.49,-11.70), (11.45,-13.54)]\nOption D\n  waypoints xy: [(3.99,-0.04), (7.50,-0.09), (10.56,-0.14), (13.11,-0.19), (15.09,-0.21), (16.47,-0.23), (17.31,-0.24), (17.70,-0.25), (17.83,-0.25), (17.84,-0.25)]\nOption E\n  waypoints xy: [(4.42,-0.01), (8.91,-0.03), (13.41,-0.05), (17.95,-0.06), (22.50,-0.07), (27.08,-0.06), (31.68,-0.06), (36.30,-0.05), (40.93,-0.06), (45.52,-0.09)]\nOption F\n  waypoints xy: [(7.09,-0.01), (14.17,-0.03), (21.23,-0.05), (28.25,-0.07), (35.19,-0.07), (42.04,-0.06), (48.86,-0.03), (55.67,0.01), (62.47,0.07), (69.28,0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.050913661554207,"cv_gap":27.96}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/40edca27477839f1b5b80a3ce4ba4327-102/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/40edca27477839f1b5b80a3ce4ba4327-102/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/40edca27477839f1b5b80a3ce4ba4327-102/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.486 m/s at x-direction and -0.009 m/s at y-direction. The ego vehicle's current acceleration is -0.386 m/s^2 at x-direction and -0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::40edca27477839f1b5b80a3ce4ba4327-102"}},"extra_info":{"index":10,"token":"waymo_e2e::40edca27477839f1b5b80a3ce4ba4327-102","id":"waymo_e2e::40edca27477839f1b5b80a3ce4ba4327-102","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(9.15,0.10), (18.30,0.20), (27.46,0.20), (36.62,0.30), (45.72,0.19), (54.66,0.18), (63.38,0.07), (71.86,0.07), (80.21,-0.03), (88.49,-0.04)]\nOption B\n  waypoints xy: [(5.39,-0.02), (10.78,-0.06), (16.17,-0.12), (21.57,-0.21), (26.95,-0.32), (32.31,-0.46), (37.62,-0.61), (42.86,-0.77), (48.00,-0.93), (53.02,-1.08)]\nOption C\n  waypoints xy: [(2.35,-0.00), (4.36,-0.01), (6.00,-0.01), (7.26,-0.02), (8.14,-0.02), (8.66,-0.02), (8.88,-0.02), (8.95,-0.02), (8.98,-0.02), (9.04,-0.02)]\nOption D\n  waypoints xy: [(5.12,0.00), (10.29,0.06), (15.50,0.17), (20.75,0.28), (26.05,0.40), (31.38,0.52), (36.73,0.58), (42.09,0.64), (47.48,0.70), (52.90,0.70)]\nOption E\n  waypoints xy: [(6.69,-0.07), (13.32,-0.24), (19.90,-0.50), (26.43,-0.85), (32.91,-1.26), (39.32,-1.75), (45.67,-2.29), (51.95,-2.89), (58.13,-3.52), (64.24,-4.17)]\nOption F\n  waypoints xy: [(2.81,0.01), (5.58,0.02), (8.33,0.03), (11.05,0.04), (13.76,0.05), (16.48,0.07), (19.23,0.09), (22.00,0.11), (24.79,0.14), (27.56,0.18)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.486035464616892,"cv_gap":18.615}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"LDoY9mfhN0","cam_id":"4_resize","sample_timestamps":["000000009073_000100000000","000000009073_000600000000","000000009074_000100000000","000000009074_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009074_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LDoY9mfhN0","cam_id":"2","sample_timestamps":["000000009073_000100000000","000000009073_000600000000","000000009074_000100000000","000000009074_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009074_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LDoY9mfhN0","cam_id":"7","sample_timestamps":["000000009073_000100000000","000000009073_000600000000","000000009074_000100000000","000000009074_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009074_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with an acceleration**. The ego vehicle's current velocity is 3.200 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and 0.800 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"LDoY9mfhN0"}},"extra_info":{"index":11,"token":"LDoY9mfhN0","id":"LDoY9mfhN0","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.57,-0.02), (3.18,-0.06), (4.82,-0.12), (6.45,-0.19), (8.06,-0.27), (9.64,-0.36), (11.19,-0.45), (12.70,-0.57), (14.18,-0.72), (15.61,-0.91)]\nOption B\n  waypoints xy: [(4.75,-0.01), (9.44,-0.00), (14.05,0.02), (18.68,0.05), (23.35,0.08), (28.08,0.10), (32.88,0.08), (37.75,0.00), (42.68,-0.14), (47.66,-0.36)]\nOption C\n  waypoints xy: [(0.96,-0.05), (1.88,-0.15), (2.72,-0.28), (3.44,-0.42), (4.05,-0.56), (4.56,-0.69), (5.02,-0.81), (5.46,-0.94), (5.91,-1.08), (6.40,-1.24)]\nOption D\n  waypoints xy: [(3.34,-0.01), (6.78,-0.02), (10.31,-0.06), (13.91,-0.10), (17.57,-0.16), (21.31,-0.22), (25.10,-0.29), (28.93,-0.36), (32.79,-0.44), (36.65,-0.51)]\nOption E\n  waypoints xy: [(4.28,-0.03), (8.64,-0.08), (13.06,-0.17), (17.57,-0.27), (22.13,-0.40), (26.74,-0.55), (31.37,-0.71), (36.01,-0.87), (40.63,-1.02), (45.22,-1.16)]\nOption F\n  waypoints xy: [(4.55,0.02), (9.06,0.04), (13.35,0.05), (17.46,0.03), (21.20,0.02), (24.56,-0.02), (27.58,-0.06), (30.22,-0.09), (32.38,-0.11), (34.04,-0.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.2015621187164247,"cv_gap":9.748}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/deeb98a44ce67465bdbacd2d5ba2d054-108/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/deeb98a44ce67465bdbacd2d5ba2d054-108/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/deeb98a44ce67465bdbacd2d5ba2d054-108/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.549 m/s at x-direction and -0.027 m/s at y-direction. The ego vehicle's current acceleration is -0.421 m/s^2 at x-direction and 0.006 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-108"}},"extra_info":{"index":12,"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-108","id":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-108","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.34,-0.01), (8.64,-0.02), (12.93,-0.03), (17.20,-0.04), (21.46,-0.05), (25.70,-0.06), (29.93,-0.08), (34.16,-0.11), (38.40,-0.17), (42.65,-0.23)]\nOption B\n  waypoints xy: [(0.91,0.11), (1.99,0.32), (3.21,0.70), (4.50,1.33), (5.76,2.27), (6.92,3.53), (7.89,5.13), (8.59,7.04), (8.93,9.20), (8.90,11.53)]\nOption C\n  waypoints xy: [(6.61,-0.00), (13.19,-0.00), (19.73,0.01), (26.21,0.04), (32.64,0.08), (39.00,0.13), (45.29,0.19), (51.51,0.27), (57.64,0.36), (63.69,0.47)]\nOption D\n  waypoints xy: [(4.04,-0.01), (7.53,-0.02), (10.36,-0.03), (12.43,-0.03), (13.74,-0.03), (14.40,-0.03), (14.61,-0.03), (14.62,-0.03), (14.63,-0.03), (14.70,-0.03)]\nOption E\n  waypoints xy: [(7.64,-0.00), (15.28,0.00), (22.90,0.02), (30.52,0.03), (38.13,0.08), (45.71,0.26), (53.27,0.58), (60.81,1.00), (68.34,1.45), (75.86,1.87)]\nOption F\n  waypoints xy: [(1.20,0.16), (2.41,0.54), (3.59,1.18), (4.71,2.10), (5.71,3.29), (6.56,4.75), (7.24,6.43), (7.77,8.26), (8.17,10.17), (8.49,12.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.549294994654927,"cv_gap":28.042}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/4c0dbe21ee85e541ccb13bc49436c6c1-142/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/4c0dbe21ee85e541ccb13bc49436c6c1-142/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/4c0dbe21ee85e541ccb13bc49436c6c1-142/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.414 m/s at x-direction and -0.011 m/s at y-direction. The ego vehicle's current acceleration is -0.229 m/s^2 at x-direction and 0.040 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::4c0dbe21ee85e541ccb13bc49436c6c1-142"}},"extra_info":{"index":13,"token":"waymo_e2e::4c0dbe21ee85e541ccb13bc49436c6c1-142","id":"waymo_e2e::4c0dbe21ee85e541ccb13bc49436c6c1-142","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.52,-0.47), (2.98,-1.28), (4.33,-2.40), (5.57,-3.78), (6.79,-5.37), (7.98,-7.22), (9.23,-9.37), (10.62,-11.77), (12.09,-14.36), (13.64,-17.13)]\nOption B\n  waypoints xy: [(1.89,-0.40), (3.73,-1.22), (5.39,-2.50), (6.81,-4.15), (8.02,-6.11), (9.08,-8.29), (10.02,-10.62), (10.88,-13.03), (11.70,-15.50), (12.52,-18.05)]\nOption C\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\nOption D\n  waypoints xy: [(2.24,0.04), (4.50,0.12), (6.76,0.25), (9.00,0.43), (11.21,0.66), (13.40,0.90), (15.55,1.16), (17.67,1.43), (19.76,1.71), (21.83,2.00)]\nOption E\n  waypoints xy: [(7.32,0.00), (14.64,-0.00), (21.96,-0.02), (29.28,-0.04), (36.59,-0.08), (43.90,-0.14), (51.20,-0.21), (58.49,-0.27), (65.74,-0.33), (72.98,-0.39)]\nOption F\n  waypoints xy: [(4.92,-0.05), (9.90,-0.16), (14.94,-0.35), (20.03,-0.61), (25.16,-0.90), (30.33,-1.23), (35.54,-1.58), (40.78,-1.94), (46.03,-2.32), (51.27,-2.69)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.413654179043637,"cv_gap":5.735}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"WfsnopntdI","cam_id":"4_resize","sample_timestamps":["000000002952_000500000000","000000002953_000000000000","000000002953_000500000000","000000002954_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002954_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"WfsnopntdI","cam_id":"2","sample_timestamps":["000000002952_000500000000","000000002953_000000000000","000000002953_000500000000","000000002954_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002954_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"WfsnopntdI","cam_id":"7","sample_timestamps":["000000002952_000500000000","000000002953_000000000000","000000002953_000500000000","000000002954_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002954_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.400 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"WfsnopntdI"}},"extra_info":{"index":14,"token":"WfsnopntdI","id":"WfsnopntdI","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.56,-0.02), (9.02,-0.07), (13.33,-0.13), (17.45,-0.20), (21.32,-0.28), (24.89,-0.35), (28.13,-0.44), (31.01,-0.54), (33.52,-0.66), (35.65,-0.79)]\nOption B\n  waypoints xy: [(1.80,0.00), (3.61,0.02), (5.43,0.04), (7.24,0.04), (9.07,0.06), (10.90,0.10), (12.75,0.10), (14.61,0.12), (16.46,0.14), (18.27,0.17)]\nOption C\n  waypoints xy: [(4.47,-0.00), (9.03,0.00), (13.85,0.02), (18.97,0.04), (24.36,0.07), (29.93,0.14), (35.66,0.29), (41.57,0.57), (47.63,1.01), (53.78,1.59)]\nOption D\n  waypoints xy: [(4.01,-0.01), (8.05,-0.03), (12.11,-0.06), (16.18,-0.10), (20.28,-0.15), (24.40,-0.21), (28.55,-0.28), (32.72,-0.36), (36.91,-0.44), (41.09,-0.52)]\nOption E\n  waypoints xy: [(5.24,-0.00), (10.53,0.01), (15.89,0.03), (21.31,0.06), (26.78,0.09), (32.30,0.13), (37.84,0.17), (43.38,0.20), (48.95,0.25), (54.52,0.29)]\nOption F\n  waypoints xy: [(1.06,0.00), (1.87,0.00), (2.44,0.00), (2.80,0.01), (3.04,0.01), (3.21,0.01), (3.35,0.01), (3.49,0.02), (3.62,0.02), (3.78,0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.7,"cv_gap":14.81}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"PRonO4oSoG","cam_id":"4_resize","sample_timestamps":["000000008828_000950000000","000000008829_000200000000","000000008829_000450000000","000000008829_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000008829_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PRonO4oSoG","cam_id":"2","sample_timestamps":["000000008828_000200000000","000000008828_000700000000","000000008829_000200000000","000000008829_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000008829_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PRonO4oSoG","cam_id":"7","sample_timestamps":["000000008828_000200000000","000000008828_000700000000","000000008829_000200000000","000000008829_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000008829_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 7.100 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"PRonO4oSoG"}},"extra_info":{"index":15,"token":"PRonO4oSoG","id":"PRonO4oSoG","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.84,-0.03), (9.74,-0.11), (14.68,-0.26), (19.65,-0.47), (24.63,-0.75), (29.61,-1.10), (34.62,-1.49), (39.64,-1.91), (44.62,-2.33), (49.52,-2.75)]\nOption B\n  waypoints xy: [(5.63,-0.00), (11.28,-0.01), (16.96,-0.00), (22.67,-0.00), (28.41,0.00), (34.19,0.01), (40.00,0.02), (45.83,0.04), (51.68,0.07), (57.53,0.10)]\nOption C\n  waypoints xy: [(3.53,-0.00), (7.07,0.00), (10.61,0.00), (14.14,0.01), (17.66,0.01), (21.18,0.01), (24.71,0.00), (28.27,-0.01), (31.84,-0.03), (35.41,-0.05)]\nOption D\n  waypoints xy: [(0.97,-0.12), (2.15,-0.41), (3.45,-0.97), (4.79,-1.89), (6.03,-3.24), (7.06,-5.00), (7.86,-7.15), (8.47,-9.65), (8.98,-12.44), (9.44,-15.50)]\nOption E\n  waypoints xy: [(2.66,0.02), (5.18,0.09), (7.55,0.19), (9.74,0.31), (11.70,0.44), (13.40,0.58), (14.86,0.73), (16.10,0.89), (17.13,1.06), (17.98,1.24)]\nOption F\n  waypoints xy: [(1.37,-0.34), (2.67,-0.99), (3.84,-1.93), (4.87,-3.17), (5.73,-4.66), (6.48,-6.39), (7.17,-8.33), (7.85,-10.48), (8.54,-12.82), (9.27,-15.33)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.1,"cv_gap":18.564}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/8a8d3d1cbbaa43e0aa1b79f2f0a54570-111/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/8a8d3d1cbbaa43e0aa1b79f2f0a54570-111/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/8a8d3d1cbbaa43e0aa1b79f2f0a54570-111/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.872 m/s at x-direction and -0.010 m/s at y-direction. The ego vehicle's current acceleration is -0.317 m/s^2 at x-direction and 0.095 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::8a8d3d1cbbaa43e0aa1b79f2f0a54570-111"}},"extra_info":{"index":16,"token":"waymo_e2e::8a8d3d1cbbaa43e0aa1b79f2f0a54570-111","id":"waymo_e2e::8a8d3d1cbbaa43e0aa1b79f2f0a54570-111","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.85,0.01), (9.94,0.01), (15.22,0.00), (20.65,-0.01), (26.15,-0.03), (31.70,-0.04), (37.29,-0.05), (42.89,-0.05), (48.52,-0.07), (54.17,-0.09)]\nOption B\n  waypoints xy: [(4.40,-0.00), (8.83,-0.01), (13.27,-0.01), (17.71,-0.01), (22.16,-0.02), (26.61,-0.03), (31.05,-0.05), (35.48,-0.08), (39.88,-0.10), (44.25,-0.12)]\nOption C\n  waypoints xy: [(4.04,-0.01), (7.53,-0.02), (10.36,-0.03), (12.43,-0.03), (13.74,-0.03), (14.40,-0.03), (14.61,-0.03), (14.62,-0.03), (14.63,-0.03), (14.70,-0.03)]\nOption D\n  waypoints xy: [(0.91,0.11), (1.99,0.32), (3.21,0.70), (4.50,1.33), (5.76,2.27), (6.92,3.53), (7.89,5.13), (8.59,7.04), (8.93,9.20), (8.90,11.53)]\nOption E\n  waypoints xy: [(5.34,-0.10), (10.74,-0.36), (16.20,-0.79), (21.67,-1.39), (27.14,-2.15), (32.59,-3.07), (38.01,-4.11), (43.40,-5.24), (48.71,-6.45), (53.90,-7.72)]\nOption F\n  waypoints xy: [(1.20,0.16), (2.41,0.54), (3.59,1.18), (4.71,2.10), (5.71,3.29), (6.56,4.75), (7.24,6.43), (7.77,8.26), (8.17,10.17), (8.49,12.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.871906508552948,"cv_gap":29.183}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"cEGtyzF0cC","cam_id":"4_resize","sample_timestamps":["000000011023_000650000000","000000011023_000900000000","000000011024_000150000000","000000011024_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000011024_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"cEGtyzF0cC","cam_id":"2","sample_timestamps":["000000011022_000900000000","000000011023_000400000000","000000011023_000900000000","000000011024_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000011024_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"cEGtyzF0cC","cam_id":"7","sample_timestamps":["000000011022_000900000000","000000011023_000400000000","000000011023_000900000000","000000011024_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000011024_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with a constant speed**. The ego vehicle's current velocity is 3.400 m/s at x-direction and -0.400 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and 0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"cEGtyzF0cC"}},"extra_info":{"index":17,"token":"cEGtyzF0cC","id":"cEGtyzF0cC","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.95,0.17), (3.90,0.59), (5.79,1.27), (7.59,2.23), (9.30,3.48), (10.92,4.99), (12.45,6.74), (13.90,8.68), (15.29,10.78), (16.66,13.01)]\nOption B\n  waypoints xy: [(5.29,-0.01), (10.62,-0.03), (15.95,-0.07), (21.26,-0.11), (26.55,-0.17), (31.77,-0.23), (36.89,-0.31), (41.89,-0.39), (46.77,-0.47), (51.53,-0.53)]\nOption C\n  waypoints xy: [(3.37,-0.09), (6.52,-0.30), (9.38,-0.62), (11.92,-1.03), (14.16,-1.47), (16.09,-1.86), (17.73,-2.16), (19.08,-2.38), (20.16,-2.53), (20.99,-2.62)]\nOption D\n  waypoints xy: [(1.63,-0.05), (3.31,-0.16), (5.02,-0.33), (6.78,-0.55), (8.57,-0.80), (10.38,-1.09), (12.20,-1.43), (14.03,-1.82), (15.82,-2.25), (17.56,-2.72)]\nOption E\n  waypoints xy: [(7.14,-0.01), (14.26,-0.02), (21.37,-0.05), (28.47,-0.08), (35.58,-0.12), (42.69,-0.15), (49.81,-0.19), (56.90,-0.23), (63.97,-0.28), (71.01,-0.34)]\nOption F\n  waypoints xy: [(1.98,-0.36), (3.95,-1.00), (5.87,-1.83), (7.77,-2.78), (9.63,-3.78), (11.46,-4.84), (13.29,-5.95), (15.13,-7.11), (17.00,-8.29), (18.88,-9.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4234485537247377,"cv_gap":16.203}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"YUaMxBhruY","cam_id":"4_resize","sample_timestamps":["000000000264_000600000000","000000000265_000100000000","000000000265_000600000000","000000000266_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000266_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"YUaMxBhruY","cam_id":"2","sample_timestamps":["000000000264_000600000000","000000000265_000100000000","000000000265_000600000000","000000000266_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000266_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"YUaMxBhruY","cam_id":"7","sample_timestamps":["000000000264_000600000000","000000000265_000100000000","000000000265_000600000000","000000000266_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000266_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"YUaMxBhruY"}},"extra_info":{"index":18,"token":"YUaMxBhruY","id":"YUaMxBhruY","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.18,0.01), (10.47,0.03), (15.84,0.04), (21.29,0.06), (26.78,0.14), (32.32,0.35), (37.90,0.81), (43.50,1.54), (49.10,2.53), (54.69,3.74)]\nOption B\n  waypoints xy: [(1.26,-0.01), (2.20,-0.03), (2.88,-0.04), (3.33,-0.03), (3.62,-0.03), (3.81,-0.03), (4.01,-0.04), (4.27,-0.04), (4.60,-0.03), (5.02,-0.03)]\nOption C\n  waypoints xy: [(6.68,0.03), (13.33,0.06), (19.93,0.12), (26.52,0.19), (33.08,0.26), (39.63,0.34), (46.15,0.42), (52.64,0.51), (59.09,0.61), (65.50,0.74)]\nOption D\n  waypoints xy: [(10.82,-0.00), (21.55,-0.12), (32.18,-0.24), (42.71,-0.59), (53.15,-0.84), (63.50,-1.32), (73.81,-1.80), (84.05,-2.50), (94.23,-3.10), (104.35,-3.80)]\nOption E\n  waypoints xy: [(4.31,-0.02), (8.55,-0.05), (12.72,-0.10), (16.81,-0.18), (20.81,-0.27), (24.70,-0.38), (28.45,-0.51), (32.03,-0.67), (35.43,-0.87), (38.62,-1.09)]\nOption F\n  waypoints xy: [(1.39,-0.01), (2.80,-0.01), (4.23,-0.02), (5.66,-0.03), (7.07,-0.04), (8.47,-0.05), (9.86,-0.05), (11.24,-0.05), (12.61,-0.05), (13.98,-0.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.8,"cv_gap":8.827}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3dc25ced8a65ab9eb2f87a2c79a33017-090/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3dc25ced8a65ab9eb2f87a2c79a33017-090/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3dc25ced8a65ab9eb2f87a2c79a33017-090/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 8.120 m/s at x-direction and 0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and -0.008 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3dc25ced8a65ab9eb2f87a2c79a33017-090"}},"extra_info":{"index":19,"token":"waymo_e2e::3dc25ced8a65ab9eb2f87a2c79a33017-090","id":"waymo_e2e::3dc25ced8a65ab9eb2f87a2c79a33017-090","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.70,0.13), (3.44,0.46), (5.15,1.08), (6.78,2.04), (8.22,3.36), (9.41,5.01), (10.29,6.93), (10.90,9.06), (11.31,11.38), (11.60,13.84)]\nOption B\n  waypoints xy: [(1.75,0.16), (3.51,0.57), (5.21,1.32), (6.75,2.45), (8.03,3.96), (8.99,5.79), (9.60,7.88), (9.91,10.15), (9.99,12.55), (9.94,15.05)]\nOption C\n  waypoints xy: [(6.21,-0.01), (12.38,-0.01), (18.52,-0.00), (24.62,0.01), (30.67,0.02), (36.68,0.05), (42.65,0.10), (48.59,0.16), (54.48,0.23), (60.31,0.31)]\nOption D\n  waypoints xy: [(3.66,-0.02), (6.98,-0.04), (9.92,-0.07), (12.44,-0.09), (14.49,-0.11), (16.04,-0.12), (17.11,-0.13), (17.73,-0.13), (17.99,-0.13), (18.06,-0.14)]\nOption E\n  waypoints xy: [(5.64,-0.02), (11.32,-0.04), (17.03,-0.08), (22.77,-0.12), (28.54,-0.16), (34.33,-0.20), (40.13,-0.23), (45.92,-0.27), (51.68,-0.32), (57.40,-0.37)]\nOption F\n  waypoints xy: [(4.08,-0.00), (8.17,-0.00), (12.27,0.00), (16.36,0.00), (20.44,0.00), (24.49,0.00), (28.52,-0.00), (32.52,-0.02), (36.53,-0.04), (40.53,-0.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.120110410981324,"cv_gap":21.964}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"x3aeGcWOZj","cam_id":"4_resize","sample_timestamps":["000000003012_000000000000","000000003012_000500000000","000000003013_000000000000","000000003013_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003013_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"x3aeGcWOZj","cam_id":"2","sample_timestamps":["000000003012_000000000000","000000003012_000500000000","000000003013_000000000000","000000003013_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003013_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"x3aeGcWOZj","cam_id":"7","sample_timestamps":["000000003012_000000000000","000000003012_000500000000","000000003013_000000000000","000000003013_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003013_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.100 m/s at x-direction and -0.400 m/s at y-direction. The ego vehicle's current acceleration is 0.500 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"x3aeGcWOZj"}},"extra_info":{"index":20,"token":"x3aeGcWOZj","id":"x3aeGcWOZj","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.65,-0.02), (9.25,-0.05), (13.84,-0.08), (18.44,-0.11), (23.08,-0.14), (27.71,-0.16), (32.40,-0.17), (37.18,-0.19), (42.03,-0.19), (46.96,-0.18)]\nOption B\n  waypoints xy: [(4.11,0.01), (8.18,0.04), (12.22,0.10), (16.23,0.18), (20.20,0.27), (24.13,0.39), (28.00,0.51), (31.83,0.62), (35.59,0.72), (39.27,0.80)]\nOption C\n  waypoints xy: [(0.82,0.06), (1.63,0.23), (2.45,0.53), (3.26,0.95), (4.04,1.50), (4.78,2.17), (5.48,2.92), (6.13,3.76), (6.75,4.64), (7.33,5.57)]\nOption D\n  waypoints xy: [(3.74,-0.11), (7.42,-0.39), (11.00,-0.85), (14.45,-1.50), (17.71,-2.36), (20.81,-3.47), (23.81,-4.88), (26.68,-6.58), (29.46,-8.49), (32.21,-10.48)]\nOption E\n  waypoints xy: [(2.69,-0.03), (5.85,-0.11), (9.50,-0.32), (13.65,-0.66), (18.17,-1.13), (23.03,-1.75), (28.26,-2.61), (33.85,-3.59), (39.78,-4.69), (46.03,-6.08)]\nOption F\n  waypoints xy: [(1.07,-0.03), (2.13,-0.12), (3.17,-0.26), (4.19,-0.44), (5.20,-0.66), (6.20,-0.94), (7.19,-1.27), (8.15,-1.66), (9.09,-2.12), (9.98,-2.63)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.137755832643195,"cv_gap":8.379}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/42451935d11654513bbcd66b5a61a551-139/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/42451935d11654513bbcd66b5a61a551-139/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/42451935d11654513bbcd66b5a61a551-139/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 12.665 m/s at x-direction and -0.014 m/s at y-direction. The ego vehicle's current acceleration is -0.470 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::42451935d11654513bbcd66b5a61a551-139"}},"extra_info":{"index":21,"token":"waymo_e2e::42451935d11654513bbcd66b5a61a551-139","id":"waymo_e2e::42451935d11654513bbcd66b5a61a551-139","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.61,0.43), (5.22,1.36), (7.74,2.78), (10.12,4.67), (12.34,6.97), (14.43,9.58), (16.45,12.46), (18.42,15.56), (20.40,18.84), (22.42,22.28)]\nOption B\n  waypoints xy: [(13.46,-0.02), (26.90,-0.03), (40.27,-0.05), (53.54,-0.06), (66.67,-0.09), (79.62,-0.14), (92.47,-0.25), (105.23,-0.42), (117.93,-0.65), (130.60,-0.97)]\nOption C\n  waypoints xy: [(4.90,-0.04), (9.52,-0.15), (13.81,-0.32), (17.70,-0.54), (21.16,-0.82), (24.17,-1.17), (26.68,-1.63), (28.72,-2.23), (30.26,-2.97), (31.36,-3.83)]\nOption D\n  waypoints xy: [(2.32,0.30), (4.55,1.13), (6.76,2.37), (9.15,3.81), (11.72,5.50), (14.47,7.40), (17.43,9.39), (20.53,11.53), (23.83,13.70), (27.29,15.92)]\nOption E\n  waypoints xy: [(6.30,-0.01), (12.62,-0.04), (18.94,-0.06), (25.28,-0.10), (31.63,-0.13), (37.99,-0.16), (44.37,-0.20), (50.78,-0.24), (57.22,-0.28), (63.69,-0.32)]\nOption F\n  waypoints xy: [(0.04,-0.00), (0.09,-0.00), (0.16,-0.00), (0.24,-0.01), (0.34,-0.01), (0.47,-0.01), (0.70,-0.01), (1.18,-0.01), (1.96,-0.01), (3.11,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":12.664822656035561,"cv_gap":34.971}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"GdWrGKIDLt","cam_id":"4_resize","sample_timestamps":["000000004759_000050000000","000000004759_000300000000","000000004759_000550000000","000000004759_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004759_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"GdWrGKIDLt","cam_id":"2","sample_timestamps":["000000004758_000300000000","000000004758_000800000000","000000004759_000300000000","000000004759_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004759_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"GdWrGKIDLt","cam_id":"7","sample_timestamps":["000000004758_000300000000","000000004758_000800000000","000000004759_000300000000","000000004759_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004759_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.900 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"GdWrGKIDLt"}},"extra_info":{"index":22,"token":"GdWrGKIDLt","id":"GdWrGKIDLt","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.47,-0.00), (6.88,-0.01), (10.20,-0.03), (13.43,-0.06), (16.57,-0.12), (19.61,-0.21), (22.54,-0.34), (25.34,-0.55), (27.99,-0.84), (30.45,-1.20)]\nOption B\n  waypoints xy: [(4.18,0.01), (8.34,0.02), (12.43,0.05), (16.40,0.10), (20.17,0.16), (23.69,0.21), (26.98,0.26), (30.07,0.31), (32.98,0.32), (35.78,0.28)]\nOption C\n  waypoints xy: [(4.98,0.03), (10.02,0.09), (15.11,0.18), (20.22,0.27), (25.31,0.34), (30.35,0.40), (35.28,0.43), (40.10,0.47), (44.76,0.48), (49.23,0.45)]\nOption D\n  waypoints xy: [(0.25,-0.00), (0.42,-0.01), (0.53,-0.01), (0.57,-0.01), (0.58,-0.01), (0.58,-0.01), (0.59,-0.01), (0.60,-0.01), (0.62,-0.01), (0.64,-0.01)]\nOption E\n  waypoints xy: [(0.94,0.00), (1.87,0.00), (2.82,0.00), (3.78,0.00), (4.73,0.00), (5.69,0.00), (6.65,0.01), (7.61,0.02), (8.57,0.04), (9.54,0.08)]\nOption F\n  waypoints xy: [(4.88,-0.00), (9.79,-0.01), (14.72,-0.01), (19.67,0.00), (24.62,0.01), (29.57,0.02), (34.53,0.03), (39.46,0.02), (44.37,0.03), (49.24,0.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.9,"cv_gap":8.829}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/98b7e2af184b84c99920c8d0c6db01a8-202/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/98b7e2af184b84c99920c8d0c6db01a8-202/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/98b7e2af184b84c99920c8d0c6db01a8-202/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.253 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.161 m/s^2 at x-direction and 0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::98b7e2af184b84c99920c8d0c6db01a8-202"}},"extra_info":{"index":23,"token":"waymo_e2e::98b7e2af184b84c99920c8d0c6db01a8-202","id":"waymo_e2e::98b7e2af184b84c99920c8d0c6db01a8-202","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.35,-0.03), (14.78,-0.08), (22.29,-0.17), (29.88,-0.28), (37.52,-0.41), (45.21,-0.58), (52.93,-0.75), (60.69,-0.93), (68.46,-1.13), (76.24,-1.34)]\nOption B\n  waypoints xy: [(3.92,-0.01), (8.00,-0.03), (12.20,-0.05), (16.51,-0.06), (20.90,-0.07), (25.34,-0.07), (29.80,-0.06), (34.23,-0.04), (38.60,-0.02), (42.89,-0.01)]\nOption C\n  waypoints xy: [(5.04,-0.01), (10.03,-0.02), (14.96,-0.04), (19.77,-0.07), (24.47,-0.13), (28.99,-0.20), (33.32,-0.25), (37.46,-0.26), (41.43,-0.27), (45.22,-0.27)]\nOption D\n  waypoints xy: [(1.54,0.00), (2.87,0.01), (4.00,0.02), (4.96,0.03), (5.78,0.04), (6.48,0.05), (7.07,0.06), (7.59,0.06), (8.07,0.07), (8.55,0.08)]\nOption E\n  waypoints xy: [(4.27,0.01), (8.49,0.02), (12.65,0.04), (16.72,0.06), (20.66,0.10), (24.43,0.14), (27.98,0.18), (31.29,0.21), (34.32,0.24), (37.10,0.25)]\nOption F\n  waypoints xy: [(1.63,-0.00), (3.25,-0.00), (4.87,-0.01), (6.48,-0.02), (8.10,-0.03), (9.72,-0.04), (11.33,-0.05), (12.91,-0.06), (14.45,-0.08), (15.96,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.2527084369216195,"cv_gap":7.553}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-089/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-089/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-089/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 10.086 m/s at x-direction and 0.020 m/s at y-direction. The ego vehicle's current acceleration is -0.288 m/s^2 at x-direction and -0.023 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-089"}},"extra_info":{"index":24,"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-089","id":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-089","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.05,-0.00), (10.09,0.00), (15.12,0.01), (20.13,0.03), (25.14,0.05), (30.15,0.05), (35.16,0.04), (40.17,0.02), (45.15,0.00), (50.07,-0.00)]\nOption B\n  waypoints xy: [(0.21,0.01), (0.56,0.03), (1.22,0.08), (2.33,0.24), (3.90,0.65), (5.84,1.52), (7.91,3.01), (9.89,5.18), (11.57,8.00), (12.89,11.34)]\nOption C\n  waypoints xy: [(12.81,0.07), (25.63,0.29), (38.46,0.64), (51.29,1.14), (64.09,1.76), (76.86,2.52), (89.57,3.41), (102.19,4.43), (114.72,5.57), (127.17,6.83)]\nOption D\n  waypoints xy: [(1.63,-0.42), (3.21,-1.18), (4.62,-2.27), (5.85,-3.59), (6.94,-5.06), (7.92,-6.58), (8.84,-8.08), (9.75,-9.56), (10.67,-11.10), (11.63,-12.69)]\nOption E\n  waypoints xy: [(12.76,0.00), (25.48,0.01), (38.15,0.04), (50.78,0.06), (63.36,0.09), (75.93,0.12), (88.49,0.16), (101.05,0.21), (113.61,0.27), (126.16,0.34)]\nOption F\n  waypoints xy: [(4.08,-0.01), (7.58,-0.04), (10.47,-0.09), (12.73,-0.15), (14.42,-0.20), (15.66,-0.24), (16.49,-0.27), (16.95,-0.29), (17.15,-0.29), (17.20,-0.30)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.085832760188927,"cv_gap":34.796}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/98ce7df65a9dd284fec2af85828d6c1e-225/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/98ce7df65a9dd284fec2af85828d6c1e-225/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/98ce7df65a9dd284fec2af85828d6c1e-225/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.906 m/s at x-direction and -0.001 m/s at y-direction. The ego vehicle's current acceleration is -0.080 m/s^2 at x-direction and -0.010 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::98ce7df65a9dd284fec2af85828d6c1e-225"}},"extra_info":{"index":25,"token":"waymo_e2e::98ce7df65a9dd284fec2af85828d6c1e-225","id":"waymo_e2e::98ce7df65a9dd284fec2af85828d6c1e-225","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.66,-0.02), (7.43,-0.04), (11.33,-0.06), (15.33,-0.08), (19.42,-0.09), (23.58,-0.10), (27.77,-0.09), (31.98,-0.08), (36.21,-0.06), (40.45,-0.02)]\nOption B\n  waypoints xy: [(5.34,0.01), (10.67,0.03), (15.97,0.08), (21.26,0.15), (26.53,0.21), (31.78,0.28), (36.98,0.33), (42.15,0.38), (47.29,0.40), (52.42,0.43)]\nOption C\n  waypoints xy: [(1.90,0.00), (3.86,0.00), (5.87,0.00), (7.87,0.01), (9.87,0.00), (11.88,-0.00), (13.86,-0.01), (15.83,-0.03), (17.77,-0.06), (19.65,-0.12)]\nOption D\n  waypoints xy: [(2.07,-0.00), (3.81,-0.01), (5.19,-0.01), (6.21,-0.02), (6.88,-0.02), (7.23,-0.02), (7.33,-0.02), (7.35,-0.02), (7.36,-0.02), (7.40,-0.02)]\nOption E\n  waypoints xy: [(5.38,-0.03), (10.72,-0.08), (16.01,-0.18), (21.26,-0.29), (26.45,-0.40), (31.57,-0.53), (36.55,-0.65), (41.35,-0.77), (45.96,-0.88), (50.31,-0.99)]\nOption F\n  waypoints xy: [(7.18,0.02), (14.39,0.08), (21.64,0.15), (28.92,0.24), (36.24,0.32), (43.62,0.35), (51.07,0.31), (58.55,0.24), (65.96,0.16), (73.36,0.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.9057419125469712,"cv_gap":12.255}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/6dc9d9519644766bea21dc5549437466-160/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6dc9d9519644766bea21dc5549437466-160/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6dc9d9519644766bea21dc5549437466-160/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.572 m/s at x-direction and -0.008 m/s at y-direction. The ego vehicle's current acceleration is -0.169 m/s^2 at x-direction and -0.009 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::6dc9d9519644766bea21dc5549437466-160"}},"extra_info":{"index":26,"token":"waymo_e2e::6dc9d9519644766bea21dc5549437466-160","id":"waymo_e2e::6dc9d9519644766bea21dc5549437466-160","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.90,-0.00), (7.74,-0.01), (11.54,-0.01), (15.30,-0.03), (19.05,-0.04), (22.78,-0.06), (26.54,-0.09), (30.32,-0.12), (34.14,-0.14), (37.96,-0.17)]\nOption B\n  waypoints xy: [(12.79,0.04), (25.40,0.21), (37.70,0.49), (49.80,0.89), (61.85,1.40), (73.88,1.99), (85.85,2.68), (97.58,3.40), (109.00,4.13), (120.31,4.86)]\nOption C\n  waypoints xy: [(1.09,0.24), (2.29,0.74), (3.52,1.61), (4.63,2.88), (5.51,4.56), (6.13,6.58), (6.52,8.87), (6.77,11.37), (6.95,14.02), (7.08,16.79)]\nOption D\n  waypoints xy: [(7.13,-0.01), (14.14,-0.04), (20.98,-0.05), (27.61,-0.07), (34.00,-0.09), (40.15,-0.10), (46.02,-0.10), (51.58,-0.09), (56.86,-0.08), (61.86,-0.07)]\nOption E\n  waypoints xy: [(1.29,0.08), (2.71,0.30), (4.23,0.74), (5.81,1.45), (7.39,2.50), (8.90,3.89), (10.27,5.60), (11.48,7.60), (12.54,9.85), (13.45,12.31)]\nOption F\n  waypoints xy: [(3.92,-0.01), (7.43,-0.03), (10.49,-0.05), (13.06,-0.08), (15.10,-0.11), (16.57,-0.14), (17.54,-0.17), (18.06,-0.19), (18.25,-0.19), (18.29,-0.19)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.571673402166501,"cv_gap":20.046}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Yx049k6Lvo","cam_id":"4_resize","sample_timestamps":["000000011452_000000000000","000000011452_000500000000","000000011453_000000000000","000000011453_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000011453_000550000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Yx049k6Lvo","cam_id":"2","sample_timestamps":["000000011452_000000000000","000000011452_000500000000","000000011453_000000000000","000000011453_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000011453_000550000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Yx049k6Lvo","cam_id":"7","sample_timestamps":["000000011452_000000000000","000000011452_000500000000","000000011453_000000000000","000000011453_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000011453_000550000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.500 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"Yx049k6Lvo"}},"extra_info":{"index":27,"token":"Yx049k6Lvo","id":"Yx049k6Lvo","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.26,-0.01), (14.52,-0.00), (21.76,0.01), (28.97,0.01), (36.13,0.01), (43.23,-0.02), (50.24,-0.06), (57.15,-0.12), (63.99,-0.18), (70.75,-0.25)]\nOption B\n  waypoints xy: [(9.75,0.01), (19.52,0.02), (29.35,0.03), (39.24,0.04), (49.19,0.07), (59.19,0.10), (69.23,0.13), (79.30,0.16), (89.39,0.19), (99.51,0.22)]\nOption C\n  waypoints xy: [(0.76,0.02), (1.50,0.06), (2.20,0.13), (2.91,0.21), (3.65,0.31), (4.40,0.39), (5.15,0.45), (5.88,0.47), (6.61,0.43), (7.32,0.31)]\nOption D\n  waypoints xy: [(6.41,0.01), (12.80,0.05), (19.19,0.11), (25.58,0.18), (32.00,0.25), (38.46,0.30), (44.84,0.37), (51.15,0.50), (57.38,0.68), (63.55,0.88)]\nOption E\n  waypoints xy: [(5.45,0.01), (10.87,-0.04), (16.27,-0.10), (21.66,-0.18), (27.11,-0.27), (32.68,-0.40), (38.21,-0.53), (43.61,-0.67), (48.91,-0.80), (54.12,-0.92)]\nOption F\n  waypoints xy: [(0.65,-0.02), (1.31,-0.09), (1.94,-0.19), (2.56,-0.34), (3.16,-0.53), (3.73,-0.75), (4.29,-1.01), (4.84,-1.31), (5.39,-1.65), (5.92,-2.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5033296378372907,"cv_gap":3.217}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"PCE1pBMvK3","cam_id":"4_resize","sample_timestamps":["000000014525_000300000000","000000014525_000800000000","000000014526_000300000000","000000014526_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000014526_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PCE1pBMvK3","cam_id":"2","sample_timestamps":["000000014525_000300000000","000000014525_000800000000","000000014526_000300000000","000000014526_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000014526_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PCE1pBMvK3","cam_id":"7","sample_timestamps":["000000014525_000300000000","000000014525_000800000000","000000014526_000300000000","000000014526_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000014526_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 8.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.500 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"PCE1pBMvK3"}},"extra_info":{"index":28,"token":"PCE1pBMvK3","id":"PCE1pBMvK3","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.91,0.01), (5.36,0.04), (7.28,0.06), (8.64,0.08), (9.46,0.10), (9.82,0.10), (9.89,0.10), (9.91,0.10), (9.93,0.10), (10.00,0.10)]\nOption B\n  waypoints xy: [(6.12,-0.07), (12.48,-0.14), (19.09,-0.14), (26.05,0.02), (33.38,0.36), (40.94,0.79), (48.61,1.23), (56.35,1.76), (64.21,2.29), (72.28,2.84)]\nOption C\n  waypoints xy: [(4.34,0.00), (8.69,0.01), (13.05,0.01), (17.43,0.00), (21.83,-0.01), (26.25,-0.03), (30.69,-0.05), (35.12,-0.08), (39.55,-0.10), (43.93,-0.11)]\nOption D\n  waypoints xy: [(4.25,0.02), (8.57,0.07), (12.95,0.15), (17.39,0.24), (21.89,0.35), (26.44,0.47), (31.01,0.60), (35.59,0.73), (40.19,0.87), (44.76,1.01)]\nOption E\n  waypoints xy: [(11.53,-0.03), (23.02,-0.09), (34.48,-0.17), (45.94,-0.27), (57.40,-0.39), (68.87,-0.54), (80.34,-0.69), (91.80,-0.86), (103.25,-1.02), (114.70,-1.20)]\nOption F\n  waypoints xy: [(5.21,0.15), (10.72,0.38), (16.48,0.62), (22.47,0.86), (28.61,1.09), (34.84,1.29), (40.87,1.50), (46.52,1.72), (52.08,1.98), (57.65,2.35)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.8,"cv_gap":33.568}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"SKgM52i6Dm","cam_id":"4_resize","sample_timestamps":["000000003324_000300000000","000000003324_000800000000","000000003325_000300000000","000000003325_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003325_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"SKgM52i6Dm","cam_id":"2","sample_timestamps":["000000003324_000300000000","000000003324_000800000000","000000003325_000300000000","000000003325_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003325_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"SKgM52i6Dm","cam_id":"7","sample_timestamps":["000000003324_000300000000","000000003324_000800000000","000000003325_000300000000","000000003325_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003325_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"SKgM52i6Dm"}},"extra_info":{"index":29,"token":"SKgM52i6Dm","id":"SKgM52i6Dm","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(9.07,0.04), (18.15,0.09), (27.24,0.14), (36.34,0.22), (45.46,0.29), (54.59,0.38), (63.72,0.46), (72.85,0.53), (81.99,0.60), (91.13,0.65)]\nOption B\n  waypoints xy: [(4.66,0.01), (9.36,0.02), (14.10,0.03), (18.88,0.05), (23.70,0.06), (28.56,0.07), (33.49,0.07), (38.48,0.08), (43.54,0.08), (48.64,0.08)]\nOption C\n  waypoints xy: [(5.40,0.08), (10.93,0.27), (16.57,0.55), (22.32,0.92), (28.18,1.36), (34.13,1.83), (40.14,2.32), (46.18,2.80), (52.23,3.26), (58.28,3.72)]\nOption D\n  waypoints xy: [(1.77,-0.00), (3.19,-0.01), (4.25,-0.01), (5.02,-0.01), (5.56,-0.01), (5.92,-0.01), (6.17,-0.01), (6.35,-0.01), (6.53,-0.01), (6.75,-0.01)]\nOption E\n  waypoints xy: [(2.25,0.00), (4.54,0.01), (6.85,0.02), (9.20,0.03), (11.57,0.04), (13.98,0.04), (16.41,0.05), (18.83,0.05), (21.18,0.06), (23.50,0.06)]\nOption F\n  waypoints xy: [(5.37,0.01), (10.44,0.04), (15.14,0.08), (19.40,0.13), (23.16,0.18), (26.38,0.22), (29.02,0.25), (31.14,0.28), (32.75,0.31), (33.91,0.33)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.7,"cv_gap":16.712}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"blbj8SxGbA","cam_id":"4_resize","sample_timestamps":["000000003037_000900000000","000000003038_000400000000","000000003038_000900000000","000000003039_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003039_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"blbj8SxGbA","cam_id":"2","sample_timestamps":["000000003037_000900000000","000000003038_000400000000","000000003038_000900000000","000000003039_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003039_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"blbj8SxGbA","cam_id":"7","sample_timestamps":["000000003037_000900000000","000000003038_000400000000","000000003038_000900000000","000000003039_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003039_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"blbj8SxGbA"}},"extra_info":{"index":30,"token":"blbj8SxGbA","id":"blbj8SxGbA","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.04,-0.00), (3.86,-0.01), (5.44,-0.01), (6.79,-0.01), (7.90,-0.01), (8.78,-0.01), (9.41,-0.01), (9.83,-0.01), (10.10,-0.02), (10.32,-0.02)]\nOption B\n  waypoints xy: [(5.05,0.10), (10.07,0.36), (15.06,0.78), (20.03,1.37), (24.97,2.14), (29.86,3.10), (34.69,4.23), (39.42,5.53), (44.05,6.98), (48.54,8.56)]\nOption C\n  waypoints xy: [(5.83,-0.01), (11.48,-0.04), (16.96,-0.07), (22.25,-0.10), (27.31,-0.12), (32.00,-0.14), (36.27,-0.15), (40.11,-0.16), (43.55,-0.16), (46.59,-0.17)]\nOption D\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption E\n  waypoints xy: [(5.17,-0.01), (10.34,-0.04), (15.51,-0.07), (20.66,-0.13), (25.81,-0.21), (30.96,-0.31), (36.10,-0.42), (41.25,-0.55), (46.39,-0.69), (51.53,-0.83)]\nOption F\n  waypoints xy: [(13.47,0.01), (26.90,0.08), (40.28,0.22), (53.61,0.38), (66.87,0.51), (80.05,0.60), (93.09,0.66), (105.89,0.69), (118.40,0.67), (130.63,0.63)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.9,"cv_gap":13.957}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"7qMa5AkTt5","cam_id":"4_resize","sample_timestamps":["000000011288_000900000000","000000011289_000400000000","000000011289_000900000000","000000011290_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000011290_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7qMa5AkTt5","cam_id":"2","sample_timestamps":["000000011288_000900000000","000000011289_000400000000","000000011289_000900000000","000000011290_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000011290_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7qMa5AkTt5","cam_id":"7","sample_timestamps":["000000011288_000900000000","000000011289_000400000000","000000011289_000900000000","000000011290_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000011290_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 8.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"7qMa5AkTt5"}},"extra_info":{"index":31,"token":"7qMa5AkTt5","id":"7qMa5AkTt5","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.34,0.01), (6.49,0.02), (9.41,0.04), (12.08,0.06), (14.46,0.08), (16.51,0.09), (18.18,0.11), (19.46,0.12), (20.39,0.12), (21.02,0.13)]\nOption B\n  waypoints xy: [(0.85,-0.04), (2.05,-0.18), (3.57,-0.51), (5.33,-1.19), (7.17,-2.36), (8.91,-4.13), (10.39,-6.49), (11.50,-9.42), (12.29,-12.85), (12.92,-16.71)]\nOption C\n  waypoints xy: [(6.82,0.01), (13.63,0.04), (20.44,0.08), (27.25,0.14), (34.07,0.19), (40.90,0.24), (47.74,0.27), (54.57,0.30), (61.37,0.33), (68.17,0.37)]\nOption D\n  waypoints xy: [(7.16,0.02), (14.37,0.08), (21.61,0.12), (28.90,0.17), (36.22,0.20), (43.59,0.25), (50.99,0.31), (58.34,0.38), (65.68,0.46), (72.99,0.55)]\nOption E\n  waypoints xy: [(1.47,-0.31), (2.99,-0.89), (4.54,-1.74), (6.12,-2.83), (7.73,-4.14), (9.38,-5.63), (11.06,-7.28), (12.77,-9.09), (14.53,-11.04), (16.32,-13.11)]\nOption F\n  waypoints xy: [(4.34,0.00), (8.69,0.01), (13.05,0.01), (17.43,0.00), (21.83,-0.01), (26.25,-0.03), (30.69,-0.05), (35.12,-0.08), (39.55,-0.10), (43.93,-0.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.8,"cv_gap":22.115}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-095/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-095/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-095/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 8.453 m/s at x-direction and 0.011 m/s at y-direction. The ego vehicle's current acceleration is -0.853 m/s^2 at x-direction and -0.047 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-095"}},"extra_info":{"index":32,"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-095","id":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-095","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.20,-0.01), (5.89,-0.03), (7.91,-0.06), (9.17,-0.08), (9.77,-0.10), (9.89,-0.10), (9.89,-0.10), (9.90,-0.10), (9.93,-0.10), (10.10,-0.10)]\nOption B\n  waypoints xy: [(14.12,-0.04), (28.26,-0.16), (42.41,-0.36), (56.57,-0.64), (70.75,-0.98), (84.93,-1.41), (99.13,-1.93), (113.34,-2.51), (127.56,-3.16), (141.77,-3.86)]\nOption C\n  waypoints xy: [(4.23,-0.00), (8.48,-0.01), (12.72,-0.00), (16.96,0.01), (21.20,0.02), (25.42,0.04), (29.64,0.05), (33.87,0.07), (38.11,0.08), (42.34,0.10)]\nOption D\n  waypoints xy: [(4.76,-0.01), (9.44,-0.02), (14.04,-0.04), (18.53,-0.06), (22.88,-0.09), (27.12,-0.12), (31.24,-0.15), (35.22,-0.19), (39.05,-0.23), (42.74,-0.28)]\nOption E\n  waypoints xy: [(6.19,0.04), (12.40,0.16), (18.63,0.36), (24.89,0.65), (31.18,1.02), (37.49,1.45), (43.81,1.94), (50.13,2.48), (56.43,3.07), (62.72,3.69)]\nOption F\n  waypoints xy: [(5.40,-0.00), (10.79,-0.01), (16.18,-0.03), (21.56,-0.04), (26.88,-0.03), (32.16,-0.02), (37.45,-0.01), (42.75,-0.01), (48.07,-0.01), (53.35,-0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.45322225877204,"cv_gap":32.494}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3c49a2054fcbbfd8e186bbe2bdc7a2af-071/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3c49a2054fcbbfd8e186bbe2bdc7a2af-071/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3c49a2054fcbbfd8e186bbe2bdc7a2af-071/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.448 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.211 m/s^2 at x-direction and 0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3c49a2054fcbbfd8e186bbe2bdc7a2af-071"}},"extra_info":{"index":33,"token":"waymo_e2e::3c49a2054fcbbfd8e186bbe2bdc7a2af-071","id":"waymo_e2e::3c49a2054fcbbfd8e186bbe2bdc7a2af-071","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(14.17,0.00), (28.39,0.03), (42.64,0.08), (56.90,0.15), (71.16,0.23), (85.41,0.33), (99.62,0.44), (113.82,0.56), (127.98,0.69), (142.12,0.81)]\nOption B\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\nOption C\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption D\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption E\n  waypoints xy: [(2.30,-0.02), (4.46,-0.08), (6.44,-0.17), (8.13,-0.29), (9.54,-0.41), (10.74,-0.53), (11.74,-0.62), (12.51,-0.70), (13.06,-0.75), (13.34,-0.78)]\nOption F\n  waypoints xy: [(3.21,0.60), (6.40,1.93), (9.44,4.01), (12.27,6.77), (14.89,10.11), (17.38,13.90), (19.86,18.03), (22.42,22.41), (25.06,26.97), (27.75,31.65)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.4484038552808585,"cv_gap":13.624}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"wgzMXruB7J","cam_id":"4_resize","sample_timestamps":["001741145164_000600000000","001741145165_000100000000","001741145165_000600000000","001741145166_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001741145166_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"wgzMXruB7J","cam_id":"2","sample_timestamps":["001741145164_000600000000","001741145165_000100000000","001741145165_000600000000","001741145166_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001741145166_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"wgzMXruB7J","cam_id":"7","sample_timestamps":["001741145164_000600000000","001741145165_000100000000","001741145165_000600000000","001741145166_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001741145166_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.200 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"wgzMXruB7J"}},"extra_info":{"index":34,"token":"wgzMXruB7J","id":"wgzMXruB7J","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption B\n  waypoints xy: [(4.49,-0.02), (9.07,-0.05), (13.72,-0.10), (18.43,-0.16), (23.19,-0.24), (27.98,-0.31), (32.79,-0.40), (37.60,-0.49), (42.40,-0.58), (47.15,-0.69)]\nOption C\n  waypoints xy: [(5.09,0.00), (10.33,0.00), (15.71,-0.01), (21.16,-0.03), (26.71,-0.05), (32.35,-0.08), (38.05,-0.12), (43.77,-0.16), (49.51,-0.21), (55.21,-0.25)]\nOption D\n  waypoints xy: [(3.30,0.00), (6.76,0.00), (10.37,-0.00), (14.10,-0.02), (17.92,-0.06), (21.82,-0.12), (25.76,-0.18), (29.71,-0.24), (33.63,-0.31), (37.48,-0.37)]\nOption E\n  waypoints xy: [(1.92,-0.00), (3.34,-0.01), (4.26,-0.01), (4.74,-0.01), (4.90,-0.01), (4.94,-0.02), (4.96,-0.02), (5.08,-0.02), (5.45,-0.02), (6.19,-0.03)]\nOption F\n  waypoints xy: [(3.99,-0.02), (8.02,-0.07), (12.07,-0.12), (16.13,-0.19), (20.17,-0.25), (24.19,-0.30), (28.17,-0.34), (32.09,-0.36), (35.93,-0.38), (39.66,-0.38)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.9,"cv_gap":18.678}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/003b62820d0e9345eb025de35b046999-023/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/003b62820d0e9345eb025de35b046999-023/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/003b62820d0e9345eb025de35b046999-023/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.369 m/s at x-direction and -0.008 m/s at y-direction. The ego vehicle's current acceleration is -0.163 m/s^2 at x-direction and 0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::003b62820d0e9345eb025de35b046999-023"}},"extra_info":{"index":35,"token":"waymo_e2e::003b62820d0e9345eb025de35b046999-023","id":"waymo_e2e::003b62820d0e9345eb025de35b046999-023","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.68,0.00), (7.34,0.02), (11.00,0.04), (14.67,0.05), (18.35,0.05), (22.03,0.05), (25.74,0.04), (29.48,0.02), (33.23,0.01), (37.00,-0.01)]\nOption B\n  waypoints xy: [(5.52,0.00), (10.99,0.02), (16.39,0.06), (21.74,0.13), (27.01,0.27), (32.22,0.49), (37.33,0.76), (42.36,1.07), (47.32,1.39), (52.22,1.73)]\nOption C\n  waypoints xy: [(4.86,0.01), (10.03,0.03), (15.48,0.07), (21.19,0.13), (27.13,0.20), (33.27,0.26), (39.56,0.32), (46.00,0.37), (52.54,0.42), (59.16,0.49)]\nOption D\n  waypoints xy: [(0.91,0.11), (1.99,0.32), (3.21,0.70), (4.50,1.33), (5.76,2.27), (6.92,3.53), (7.89,5.13), (8.59,7.04), (8.93,9.20), (8.90,11.53)]\nOption E\n  waypoints xy: [(1.20,0.16), (2.41,0.54), (3.59,1.18), (4.71,2.10), (5.71,3.29), (6.56,4.75), (7.24,6.43), (7.77,8.26), (8.17,10.17), (8.49,12.15)]\nOption F\n  waypoints xy: [(4.04,-0.01), (7.53,-0.02), (10.36,-0.03), (12.43,-0.03), (13.74,-0.03), (14.40,-0.03), (14.61,-0.03), (14.62,-0.03), (14.63,-0.03), (14.70,-0.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.369247466820697,"cv_gap":21.854}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/c6e0a7ff5f95ef5e69cc9b790d177166-105/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/c6e0a7ff5f95ef5e69cc9b790d177166-105/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/c6e0a7ff5f95ef5e69cc9b790d177166-105/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.999 m/s at x-direction and -0.034 m/s at y-direction. The ego vehicle's current acceleration is -0.542 m/s^2 at x-direction and -0.031 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c6e0a7ff5f95ef5e69cc9b790d177166-105"}},"extra_info":{"index":36,"token":"waymo_e2e::c6e0a7ff5f95ef5e69cc9b790d177166-105","id":"waymo_e2e::c6e0a7ff5f95ef5e69cc9b790d177166-105","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.50,-0.00), (9.01,-0.01), (13.53,-0.01), (18.05,-0.02), (22.55,-0.04), (27.02,-0.07), (31.46,-0.10), (35.87,-0.13), (40.23,-0.16), (44.55,-0.21)]\nOption B\n  waypoints xy: [(1.63,0.25), (3.31,0.80), (5.01,1.69), (6.63,2.95), (8.13,4.60), (9.47,6.58), (10.67,8.86), (11.75,11.36), (12.73,14.05), (13.64,16.88)]\nOption C\n  waypoints xy: [(12.70,-0.15), (25.39,-0.57), (38.06,-1.29), (50.71,-2.29), (63.35,-3.57), (75.98,-5.16), (88.58,-7.06), (101.16,-9.27), (113.70,-11.79), (126.20,-14.61)]\nOption D\n  waypoints xy: [(2.99,-0.02), (5.77,-0.10), (8.31,-0.32), (10.65,-0.77), (12.79,-1.53), (14.70,-2.67), (16.29,-4.21), (17.49,-6.12), (18.26,-8.35), (18.69,-10.84)]\nOption E\n  waypoints xy: [(1.18,-0.28), (2.39,-0.88), (3.55,-1.86), (4.58,-3.25), (5.40,-5.07), (5.96,-7.30), (6.41,-9.90), (6.93,-12.86), (7.54,-16.26), (8.24,-20.04)]\nOption F\n  waypoints xy: [(13.90,-0.02), (27.81,-0.04), (41.72,-0.05), (55.65,-0.07), (69.57,-0.08), (83.51,-0.09), (97.45,-0.10), (111.40,-0.12), (125.34,-0.13), (139.27,-0.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.999503654778472,"cv_gap":30.455}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3c7ee39378ee66eb14ed7014221fd9f2-138/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3c7ee39378ee66eb14ed7014221fd9f2-138/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3c7ee39378ee66eb14ed7014221fd9f2-138/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 3.183 m/s at x-direction and 0.032 m/s at y-direction. The ego vehicle's current acceleration is 0.203 m/s^2 at x-direction and -0.196 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3c7ee39378ee66eb14ed7014221fd9f2-138"}},"extra_info":{"index":37,"token":"waymo_e2e::3c7ee39378ee66eb14ed7014221fd9f2-138","id":"waymo_e2e::3c7ee39378ee66eb14ed7014221fd9f2-138","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.65,-0.01), (7.00,-0.02), (9.89,-0.02), (12.33,-0.03), (14.29,-0.04), (15.76,-0.05), (16.74,-0.06), (17.18,-0.06), (17.20,-0.07), (17.21,-0.07)]\nOption B\n  waypoints xy: [(4.90,-0.00), (9.85,-0.00), (14.84,-0.00), (19.85,-0.01), (24.88,-0.01), (29.91,-0.02), (34.95,-0.03), (40.02,-0.04), (45.13,-0.05), (50.24,-0.07)]\nOption C\n  waypoints xy: [(1.63,-0.42), (3.21,-1.18), (4.62,-2.27), (5.85,-3.59), (6.94,-5.06), (7.92,-6.58), (8.84,-8.08), (9.75,-9.56), (10.67,-11.10), (11.63,-12.69)]\nOption D\n  waypoints xy: [(4.08,-0.01), (7.58,-0.04), (10.47,-0.09), (12.73,-0.15), (14.42,-0.20), (15.66,-0.24), (16.49,-0.27), (16.95,-0.29), (17.15,-0.29), (17.20,-0.30)]\nOption E\n  waypoints xy: [(5.41,-0.01), (10.76,-0.02), (16.01,-0.04), (21.13,-0.06), (26.11,-0.07), (30.94,-0.09), (35.59,-0.09), (40.08,-0.08), (44.42,-0.07), (48.64,-0.05)]\nOption F\n  waypoints xy: [(1.63,0.00), (3.23,0.00), (4.83,0.00), (6.42,0.00), (8.02,0.02), (9.62,0.04), (11.23,0.06), (12.82,0.09), (14.39,0.15), (15.94,0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.1833094326997036,"cv_gap":13.879}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/ebf8c3832f8954140649da11def77c19-127/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ebf8c3832f8954140649da11def77c19-127/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ebf8c3832f8954140649da11def77c19-127/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.245 m/s at x-direction and -0.010 m/s at y-direction. The ego vehicle's current acceleration is -0.268 m/s^2 at x-direction and -0.007 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::ebf8c3832f8954140649da11def77c19-127"}},"extra_info":{"index":38,"token":"waymo_e2e::ebf8c3832f8954140649da11def77c19-127","id":"waymo_e2e::ebf8c3832f8954140649da11def77c19-127","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(12.34,0.09), (24.62,0.40), (36.84,0.91), (49.03,1.56), (61.23,2.28), (73.44,3.07), (85.66,3.90), (97.89,4.75), (110.17,5.62), (122.49,6.47)]\nOption B\n  waypoints xy: [(6.26,0.04), (12.59,0.17), (18.96,0.40), (25.36,0.65), (31.78,0.87), (38.18,1.06), (44.56,1.17), (50.92,1.23), (57.25,1.27), (63.56,1.28)]\nOption C\n  waypoints xy: [(2.04,-0.00), (4.17,-0.01), (6.37,-0.01), (8.61,-0.01), (10.85,-0.01), (13.06,0.01), (15.18,0.04), (17.21,0.07), (19.14,0.11), (20.96,0.15)]\nOption D\n  waypoints xy: [(6.07,-0.01), (12.22,-0.03), (18.41,-0.05), (24.40,-0.08), (30.12,-0.08), (35.53,-0.03), (40.61,0.06), (45.33,0.21), (49.67,0.37), (53.59,0.55)]\nOption E\n  waypoints xy: [(8.50,-0.09), (16.82,-0.19), (24.98,-0.37), (32.98,-0.55), (40.82,-0.90), (48.51,-1.16), (56.13,-1.51), (63.74,-1.86), (71.25,-2.29), (78.62,-2.71)]\nOption F\n  waypoints xy: [(1.83,-0.00), (3.41,-0.01), (4.74,-0.02), (5.79,-0.03), (6.54,-0.03), (7.03,-0.04), (7.29,-0.04), (7.40,-0.04), (7.45,-0.04), (7.52,-0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.244680548318177,"cv_gap":13.713}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/cccf5e1507d5f519ea35e92ff3db0d6c-065/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/cccf5e1507d5f519ea35e92ff3db0d6c-065/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/cccf5e1507d5f519ea35e92ff3db0d6c-065/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.392 m/s at x-direction and -0.015 m/s at y-direction. The ego vehicle's current acceleration is -0.614 m/s^2 at x-direction and -0.027 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::cccf5e1507d5f519ea35e92ff3db0d6c-065"}},"extra_info":{"index":39,"token":"waymo_e2e::cccf5e1507d5f519ea35e92ff3db0d6c-065","id":"waymo_e2e::cccf5e1507d5f519ea35e92ff3db0d6c-065","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.43,-0.00), (8.80,-0.01), (13.11,-0.02), (17.32,-0.03), (21.44,-0.05), (25.43,-0.06), (29.28,-0.06), (32.96,-0.06), (36.46,-0.06), (39.76,-0.05)]\nOption B\n  waypoints xy: [(4.70,-0.00), (9.41,-0.02), (14.14,-0.03), (18.88,-0.05), (23.63,-0.08), (28.40,-0.12), (33.17,-0.18), (37.95,-0.26), (42.73,-0.35), (47.52,-0.45)]\nOption C\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption D\n  waypoints xy: [(5.12,-0.01), (10.27,-0.02), (15.45,-0.04), (20.66,-0.04), (25.87,-0.03), (31.09,-0.01), (36.30,0.01), (41.52,0.03), (46.74,0.04), (51.96,0.05)]\nOption E\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\nOption F\n  waypoints xy: [(2.34,-0.00), (4.18,-0.01), (5.49,-0.01), (6.25,-0.01), (6.55,-0.01), (6.56,-0.01), (6.56,-0.01), (6.56,-0.01), (6.56,-0.01), (6.56,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.391751383322104,"cv_gap":20.335}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"72qMjxVCM3","cam_id":"4_resize","sample_timestamps":["000000002086_000500000000","000000002087_000000000000","000000002087_000500000000","000000002088_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002088_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"72qMjxVCM3","cam_id":"2","sample_timestamps":["000000002086_000500000000","000000002087_000000000000","000000002087_000500000000","000000002088_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002088_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"72qMjxVCM3","cam_id":"7","sample_timestamps":["000000002086_000500000000","000000002087_000000000000","000000002087_000500000000","000000002088_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002088_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 12.700 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"72qMjxVCM3"}},"extra_info":{"index":40,"token":"72qMjxVCM3","id":"72qMjxVCM3","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.22,-0.43), (4.62,-1.19), (7.22,-2.22), (10.06,-3.46), (13.12,-4.89), (16.42,-6.46), (19.90,-8.14), (23.51,-9.90), (27.22,-11.71), (30.96,-13.56)]\nOption B\n  waypoints xy: [(6.33,0.00), (12.66,0.02), (19.01,0.04), (25.37,0.07), (31.74,0.11), (38.12,0.15), (44.49,0.21), (50.86,0.29), (57.21,0.39), (63.54,0.50)]\nOption C\n  waypoints xy: [(3.22,0.35), (6.28,1.30), (9.07,2.98), (11.43,5.35), (13.15,8.30), (14.11,11.70), (14.36,15.43), (14.20,19.42), (13.93,23.67), (13.57,28.19)]\nOption D\n  waypoints xy: [(5.49,0.01), (10.60,0.05), (15.31,0.09), (19.61,0.15), (23.50,0.20), (26.79,0.25), (29.45,0.30), (31.47,0.34), (32.88,0.36), (33.76,0.38)]\nOption E\n  waypoints xy: [(1.69,-0.42), (3.42,-1.43), (4.94,-3.16), (6.09,-5.61), (6.93,-8.69), (7.63,-12.37), (8.33,-16.60), (9.10,-21.35), (9.93,-26.52), (10.82,-32.02)]\nOption F\n  waypoints xy: [(0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,-0.00), (0.00,0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":12.700393694685216,"cv_gap":31.62}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0bdcc1da851d8d3741b7c20b60e7e6c6-211/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0bdcc1da851d8d3741b7c20b60e7e6c6-211/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0bdcc1da851d8d3741b7c20b60e7e6c6-211/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 9.922 m/s at x-direction and 0.130 m/s at y-direction. The ego vehicle's current acceleration is -0.135 m/s^2 at x-direction and -0.713 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0bdcc1da851d8d3741b7c20b60e7e6c6-211"}},"extra_info":{"index":41,"token":"waymo_e2e::0bdcc1da851d8d3741b7c20b60e7e6c6-211","id":"waymo_e2e::0bdcc1da851d8d3741b7c20b60e7e6c6-211","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.53,-0.04), (9.41,-0.10), (14.59,-0.20), (20.00,-0.34), (25.55,-0.52), (31.22,-0.73), (37.00,-0.95), (42.86,-1.18), (48.80,-1.41), (54.79,-1.65)]\nOption B\n  waypoints xy: [(4.94,0.00), (9.90,0.03), (14.87,0.06), (19.84,0.11), (24.82,0.16), (29.80,0.20), (34.75,0.24), (39.67,0.27), (44.54,0.31), (49.33,0.34)]\nOption C\n  waypoints xy: [(4.75,-0.68), (9.48,-2.26), (14.22,-4.53), (18.93,-7.40), (23.49,-10.91), (27.79,-15.02), (31.74,-19.66), (35.24,-24.80), (38.31,-30.37), (41.05,-36.30)]\nOption D\n  waypoints xy: [(5.14,-0.06), (10.35,-0.11), (15.61,-0.17), (20.94,-0.23), (26.30,-0.29), (31.69,-0.22), (37.11,-0.10), (42.55,0.15), (48.01,0.40), (53.47,0.66)]\nOption E\n  waypoints xy: [(4.83,-0.01), (9.95,-0.02), (15.26,-0.06), (20.68,-0.12), (26.17,-0.18), (31.74,-0.26), (37.40,-0.33), (43.12,-0.40), (48.92,-0.48), (54.78,-0.55)]\nOption F\n  waypoints xy: [(3.49,-0.02), (6.84,-0.04), (10.02,-0.06), (13.04,-0.07), (15.77,-0.08), (18.14,-0.08), (20.09,-0.08), (21.55,-0.08), (22.49,-0.08), (22.93,-0.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.92282331994242,"cv_gap":48.206}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"5XMPAKNFED","cam_id":"4_resize","sample_timestamps":["000000007405_000650000000","000000007405_000900000000","000000007406_000150000000","000000007406_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007406_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5XMPAKNFED","cam_id":"2","sample_timestamps":["000000007404_000900000000","000000007405_000400000000","000000007405_000900000000","000000007406_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007406_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5XMPAKNFED","cam_id":"7","sample_timestamps":["000000007404_000900000000","000000007405_000400000000","000000007405_000900000000","000000007406_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007406_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.200 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"5XMPAKNFED"}},"extra_info":{"index":42,"token":"5XMPAKNFED","id":"5XMPAKNFED","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.75,-0.01), (5.94,-0.02), (9.53,-0.04), (13.49,-0.07), (17.77,-0.10), (22.35,-0.14), (27.16,-0.18), (32.16,-0.22), (37.30,-0.26), (42.54,-0.29)]\nOption B\n  waypoints xy: [(0.14,0.00), (0.27,0.00), (0.41,0.00), (0.55,0.00), (0.70,0.00), (0.86,0.01), (1.04,0.01), (1.21,0.01), (1.37,0.01), (1.52,0.02)]\nOption C\n  waypoints xy: [(0.75,-0.00), (1.50,-0.01), (2.24,-0.01), (2.98,-0.02), (3.73,-0.02), (4.48,-0.03), (5.24,-0.05), (6.01,-0.06), (6.79,-0.08), (7.59,-0.10)]\nOption D\n  waypoints xy: [(5.19,0.01), (10.33,0.02), (15.43,0.04), (20.51,0.06), (25.58,0.10), (30.64,0.14), (35.69,0.18), (40.72,0.23), (45.74,0.29), (50.76,0.35)]\nOption E\n  waypoints xy: [(4.11,-0.00), (8.25,-0.01), (12.40,-0.02), (16.56,-0.02), (20.72,-0.03), (24.85,-0.04), (28.94,-0.06), (32.95,-0.07), (36.89,-0.08), (40.72,-0.10)]\nOption F\n  waypoints xy: [(3.73,-0.11), (7.49,-0.27), (11.25,-0.42), (15.02,-0.53), (18.80,-0.60), (22.59,-0.64), (26.37,-0.64), (30.12,-0.61), (33.85,-0.55), (37.54,-0.47)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5,"cv_gap":5.998}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"1ywlk7e3z6","cam_id":"4_resize","sample_timestamps":["000000001687_000100000000","000000001687_000600000000","000000001688_000100000000","000000001688_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001688_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1ywlk7e3z6","cam_id":"2","sample_timestamps":["000000001687_000100000000","000000001687_000600000000","000000001688_000100000000","000000001688_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001688_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1ywlk7e3z6","cam_id":"7","sample_timestamps":["000000001687_000100000000","000000001687_000600000000","000000001688_000100000000","000000001688_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001688_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with an acceleration**. The ego vehicle's current velocity is 4.500 m/s at x-direction and 0.400 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and -0.700 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"1ywlk7e3z6"}},"extra_info":{"index":43,"token":"1ywlk7e3z6","id":"1ywlk7e3z6","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.52,0.00), (9.08,0.01), (13.68,0.03), (18.35,0.04), (23.07,0.05), (27.86,0.06), (32.70,0.07), (37.59,0.07), (42.52,0.07), (47.47,0.08)]\nOption B\n  waypoints xy: [(1.80,0.46), (3.50,1.35), (4.98,2.60), (6.22,4.18), (7.29,6.05), (8.24,8.16), (9.09,10.52), (9.91,13.08), (10.75,15.82), (11.64,18.71)]\nOption C\n  waypoints xy: [(2.21,-0.13), (4.41,-0.52), (6.56,-1.22), (8.60,-2.25), (10.50,-3.63), (12.17,-5.37), (13.56,-7.43), (14.64,-9.79), (15.45,-12.37), (16.03,-15.14)]\nOption D\n  waypoints xy: [(-0.00,0.00), (0.09,0.00), (0.67,0.01), (1.92,0.02), (3.87,0.06), (6.48,0.13), (9.73,0.25), (13.46,0.45), (17.57,0.74), (21.99,1.12)]\nOption E\n  waypoints xy: [(12.20,0.02), (24.42,0.07), (36.67,0.14), (48.94,0.23), (61.26,0.36), (73.63,0.54), (86.08,0.78), (98.61,1.09), (111.22,1.48), (123.89,1.94)]\nOption F\n  waypoints xy: [(2.24,0.04), (4.50,0.12), (6.76,0.25), (9.00,0.43), (11.21,0.66), (13.40,0.90), (15.55,1.16), (17.67,1.43), (19.76,1.71), (21.83,2.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.517742799230607,"cv_gap":16.627}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/02e3dbba13732a15943f108b8de3634c-088/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/02e3dbba13732a15943f108b8de3634c-088/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/02e3dbba13732a15943f108b8de3634c-088/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 13.793 m/s at x-direction and -0.068 m/s at y-direction. The ego vehicle's current acceleration is -0.060 m/s^2 at x-direction and 0.247 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::02e3dbba13732a15943f108b8de3634c-088"}},"extra_info":{"index":44,"token":"waymo_e2e::02e3dbba13732a15943f108b8de3634c-088","id":"waymo_e2e::02e3dbba13732a15943f108b8de3634c-088","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.85,-0.01), (13.72,-0.05), (20.60,-0.09), (27.48,-0.14), (34.38,-0.18), (41.28,-0.21), (48.20,-0.24), (55.12,-0.27), (62.04,-0.30), (68.96,-0.35)]\nOption B\n  waypoints xy: [(2.72,0.02), (5.46,0.05), (8.23,0.09), (11.02,0.14), (13.85,0.20), (16.71,0.27), (19.62,0.34), (22.56,0.39), (25.55,0.45), (28.60,0.50)]\nOption C\n  waypoints xy: [(4.32,0.37), (8.97,1.49), (13.78,3.58), (18.78,6.42), (23.63,10.21), (28.47,14.69), (33.65,19.59), (38.98,25.00), (44.47,30.70), (49.97,36.68)]\nOption D\n  waypoints xy: [(5.98,-0.07), (12.05,-0.24), (18.19,-0.54), (24.39,-0.93), (30.64,-1.40), (36.93,-1.92), (43.23,-2.44), (49.56,-2.96), (55.90,-3.44), (62.25,-3.91)]\nOption E\n  waypoints xy: [(3.51,0.00), (6.99,0.00), (10.44,-0.01), (13.85,-0.02), (17.24,-0.04), (20.59,-0.06), (23.89,-0.08), (27.15,-0.11), (30.35,-0.14), (33.48,-0.17)]\nOption F\n  waypoints xy: [(6.64,0.25), (13.21,0.86), (19.68,1.86), (26.00,3.23), (32.15,4.92), (38.16,6.80), (44.05,8.78), (49.82,10.80), (55.46,12.83), (61.00,14.87)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":13.7930572070386,"cv_gap":19.235}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/1e92a0d8ed3c16d6f18b2ae168804ea2-122/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1e92a0d8ed3c16d6f18b2ae168804ea2-122/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1e92a0d8ed3c16d6f18b2ae168804ea2-122/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.265 m/s at x-direction and -0.094 m/s at y-direction. The ego vehicle's current acceleration is -0.080 m/s^2 at x-direction and 0.545 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::1e92a0d8ed3c16d6f18b2ae168804ea2-122"}},"extra_info":{"index":45,"token":"waymo_e2e::1e92a0d8ed3c16d6f18b2ae168804ea2-122","id":"waymo_e2e::1e92a0d8ed3c16d6f18b2ae168804ea2-122","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.39,0.02), (10.76,0.06), (16.13,0.08), (21.45,0.06), (26.73,0.01), (31.96,-0.05), (37.13,-0.11), (42.20,-0.18), (47.12,-0.25), (51.85,-0.31)]\nOption B\n  waypoints xy: [(2.08,0.56), (4.14,1.67), (6.08,3.33), (7.84,5.47), (9.48,7.99), (11.06,10.81), (12.63,13.85), (14.21,17.05), (15.84,20.37), (17.52,23.77)]\nOption C\n  waypoints xy: [(4.41,0.00), (8.75,0.01), (13.03,0.01), (17.26,0.01), (21.43,0.02), (25.54,0.03), (29.62,0.04), (33.68,0.05), (37.73,0.06), (41.78,0.07)]\nOption D\n  waypoints xy: [(2.61,-0.02), (5.29,-0.06), (7.97,-0.12), (10.64,-0.19), (13.27,-0.27), (15.88,-0.34), (18.48,-0.41), (21.06,-0.49), (23.64,-0.55), (26.26,-0.61)]\nOption E\n  waypoints xy: [(2.52,-0.33), (5.17,-0.88), (7.93,-1.58), (10.77,-2.38), (13.68,-3.24), (16.63,-4.15), (19.61,-5.06), (22.61,-5.97), (25.58,-6.87), (28.50,-7.72)]\nOption F\n  waypoints xy: [(2.60,0.01), (5.28,0.02), (8.06,0.03), (10.93,0.04), (13.87,0.04), (16.89,0.03), (19.99,0.01), (23.14,-0.03), (26.33,-0.06), (29.53,-0.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.265825309090895,"cv_gap":26.138}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"mQ1ibtzudp","cam_id":"4_resize","sample_timestamps":["000000008181_000700000000","000000008182_000200000000","000000008182_000700000000","000000008183_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000008183_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"mQ1ibtzudp","cam_id":"2","sample_timestamps":["000000008181_000700000000","000000008182_000200000000","000000008182_000700000000","000000008183_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000008183_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"mQ1ibtzudp","cam_id":"7","sample_timestamps":["000000008181_000700000000","000000008182_000200000000","000000008182_000700000000","000000008183_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000008183_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"mQ1ibtzudp"}},"extra_info":{"index":46,"token":"mQ1ibtzudp","id":"mQ1ibtzudp","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.17,-0.04), (8.38,-0.11), (12.63,-0.17), (16.87,-0.17), (21.03,-0.14), (25.11,-0.09), (29.16,-0.03), (33.20,0.04), (37.23,0.11), (41.26,0.17)]\nOption B\n  waypoints xy: [(0.20,0.00), (0.22,0.00), (0.26,0.00), (0.29,0.00), (0.33,0.00), (0.35,0.00), (0.38,0.00), (0.41,0.00), (0.45,0.00), (0.48,0.00)]\nOption C\n  waypoints xy: [(3.74,-0.00), (7.23,-0.01), (10.40,-0.02), (13.24,-0.03), (15.76,-0.04), (17.98,-0.05), (19.91,-0.07), (21.58,-0.09), (23.03,-0.12), (24.30,-0.14)]\nOption D\n  waypoints xy: [(4.74,-0.00), (9.25,-0.01), (13.41,-0.01), (17.23,-0.02), (20.69,-0.03), (23.80,-0.04), (26.57,-0.04), (29.01,-0.05), (31.15,-0.05), (33.00,-0.05)]\nOption E\n  waypoints xy: [(4.26,-0.01), (8.51,-0.01), (12.73,-0.01), (16.88,0.03), (20.97,0.06), (25.02,0.09), (29.03,0.12), (32.92,0.16), (36.47,0.21), (39.63,0.26)]\nOption F\n  waypoints xy: [(0.90,0.00), (1.82,-0.01), (2.75,-0.00), (3.69,-0.00), (4.62,0.01), (5.53,0.01), (6.41,0.01), (7.27,0.02), (8.11,0.03), (8.94,0.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.8,"cv_gap":8.532}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"QbuIUZY4br","cam_id":"4_resize","sample_timestamps":["000000004475_000300000000","000000004475_000800000000","000000004476_000300000000","000000004476_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004476_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QbuIUZY4br","cam_id":"2","sample_timestamps":["000000004475_000300000000","000000004475_000800000000","000000004476_000300000000","000000004476_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004476_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QbuIUZY4br","cam_id":"7","sample_timestamps":["000000004475_000300000000","000000004475_000800000000","000000004476_000300000000","000000004476_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004476_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"QbuIUZY4br"}},"extra_info":{"index":47,"token":"QbuIUZY4br","id":"QbuIUZY4br","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.55,-0.00), (17.15,-0.00), (25.82,0.00), (34.58,0.02), (43.43,0.04), (52.38,0.08), (61.41,0.13), (70.53,0.19), (79.72,0.26), (88.95,0.34)]\nOption B\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption C\n  waypoints xy: [(5.55,0.01), (11.15,0.05), (16.72,0.08), (22.11,0.11), (27.26,0.13), (32.16,0.16), (36.83,0.20), (41.27,0.24), (45.56,0.29), (49.68,0.33)]\nOption D\n  waypoints xy: [(5.40,-0.05), (10.85,-0.16), (16.36,-0.38), (21.90,-0.68), (27.49,-1.06), (33.12,-1.51), (38.77,-2.00), (44.45,-2.53), (50.18,-3.07), (55.96,-3.62)]\nOption E\n  waypoints xy: [(5.40,-0.01), (10.80,-0.03), (16.17,-0.05), (21.46,-0.08), (26.60,-0.10), (31.54,-0.12), (36.20,-0.14), (40.55,-0.15), (44.54,-0.16), (48.16,-0.17)]\nOption F\n  waypoints xy: [(1.55,0.02), (2.85,0.04), (3.98,0.06), (4.95,0.07), (5.77,0.08), (6.49,0.08), (7.18,0.09), (7.88,0.11), (8.65,0.12), (9.54,0.13)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.9,"cv_gap":15.371}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"VP52PnjhkW","cam_id":"4_resize","sample_timestamps":["000000008539_000800000000","000000008540_000300000000","000000008540_000800000000","000000008541_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000008541_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"VP52PnjhkW","cam_id":"2","sample_timestamps":["000000008539_000800000000","000000008540_000300000000","000000008540_000800000000","000000008541_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000008541_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"VP52PnjhkW","cam_id":"7","sample_timestamps":["000000008539_000800000000","000000008540_000300000000","000000008540_000800000000","000000008541_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000008541_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 9.400 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"VP52PnjhkW"}},"extra_info":{"index":48,"token":"VP52PnjhkW","id":"VP52PnjhkW","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.58,-0.02), (17.21,-0.00), (25.90,0.09), (34.60,0.31), (43.29,0.66), (51.99,1.07), (60.66,1.54), (69.35,2.09), (78.07,2.74), (86.86,3.51)]\nOption B\n  waypoints xy: [(1.58,-0.15), (3.03,-0.45), (4.43,-0.93), (5.81,-1.65), (7.18,-2.70), (8.53,-4.11), (9.87,-5.90), (11.19,-8.05), (12.43,-10.57), (13.63,-13.41)]\nOption C\n  waypoints xy: [(3.87,-0.02), (7.43,-0.05), (10.61,-0.07), (13.34,-0.10), (15.56,-0.12), (17.21,-0.14), (18.30,-0.15), (18.90,-0.16), (19.12,-0.16), (19.18,-0.16)]\nOption D\n  waypoints xy: [(1.92,0.42), (3.66,1.31), (5.15,2.63), (6.30,4.33), (7.06,6.28), (7.43,8.32), (7.61,10.45), (7.76,12.67), (7.94,14.96), (8.12,17.29)]\nOption E\n  waypoints xy: [(4.93,-0.00), (9.70,0.01), (14.32,0.07), (18.92,0.16), (23.56,0.26), (28.25,0.35), (32.97,0.44), (37.70,0.51), (42.37,0.57), (47.01,0.60)]\nOption F\n  waypoints xy: [(6.06,-0.02), (12.34,-0.07), (19.52,-0.17), (27.46,-0.30), (35.48,-0.42), (43.39,-0.50), (51.13,-0.58), (58.70,-0.66), (66.13,-0.73), (73.47,-0.84)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.400531899844818,"cv_gap":27.875}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"NSeogyiqgk","cam_id":"4_resize","sample_timestamps":["000000004326_000800000000","000000004327_000300000000","000000004327_000800000000","000000004328_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004328_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NSeogyiqgk","cam_id":"2","sample_timestamps":["000000004326_000800000000","000000004327_000300000000","000000004327_000800000000","000000004328_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004328_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NSeogyiqgk","cam_id":"7","sample_timestamps":["000000004326_000800000000","000000004327_000300000000","000000004327_000800000000","000000004328_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004328_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"NSeogyiqgk"}},"extra_info":{"index":49,"token":"NSeogyiqgk","id":"NSeogyiqgk","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.92,-0.01), (1.77,-0.02), (2.50,-0.04), (3.06,-0.05), (3.40,-0.05), (3.57,-0.06), (3.63,-0.06), (3.65,-0.06), (3.67,-0.06), (3.72,-0.06)]\nOption B\n  waypoints xy: [(0.97,-0.00), (1.96,-0.01), (2.96,-0.01), (3.97,-0.02), (4.99,-0.04), (6.02,-0.05), (7.05,-0.06), (8.07,-0.08), (9.09,-0.10), (10.10,-0.12)]\nOption C\n  waypoints xy: [(11.38,-0.11), (22.77,-0.49), (34.17,-1.14), (45.58,-2.07), (56.99,-3.30), (68.40,-4.79), (79.77,-6.56), (91.09,-8.59), (102.34,-10.83), (113.52,-13.29)]\nOption D\n  waypoints xy: [(3.85,0.04), (7.91,0.11), (12.18,0.21), (16.64,0.32), (21.28,0.45), (26.07,0.58), (30.99,0.72), (36.01,0.87), (41.11,1.02), (46.26,1.15)]\nOption E\n  waypoints xy: [(9.14,0.00), (18.20,0.02), (27.08,0.04), (35.71,0.04), (44.04,0.04), (52.05,0.04), (59.75,0.06), (67.17,0.10), (74.37,0.16), (81.38,0.23)]\nOption F\n  waypoints xy: [(4.90,0.00), (9.95,0.05), (15.22,0.11), (20.67,0.11), (26.24,0.23), (31.85,0.30), (37.48,0.31), (43.12,0.38), (48.85,0.45), (54.66,0.52)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.0,"cv_gap":6.247}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"CnJ3XvFCU1","cam_id":"4_resize","sample_timestamps":["000000013595_000900000000","000000013596_000400000000","000000013596_000900000000","000000013597_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000013597_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"CnJ3XvFCU1","cam_id":"2","sample_timestamps":["000000013595_000900000000","000000013596_000400000000","000000013596_000900000000","000000013597_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000013597_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"CnJ3XvFCU1","cam_id":"7","sample_timestamps":["000000013595_000900000000","000000013596_000400000000","000000013596_000900000000","000000013597_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000013597_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.300 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"CnJ3XvFCU1"}},"extra_info":{"index":50,"token":"CnJ3XvFCU1","id":"CnJ3XvFCU1","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.75,0.04), (13.48,0.18), (20.21,0.45), (26.93,0.79), (33.65,1.12), (40.37,1.42), (47.08,1.65), (53.80,1.81), (60.54,1.90), (67.31,1.93)]\nOption B\n  waypoints xy: [(1.14,0.00), (2.31,0.00), (3.48,0.01), (4.65,0.01), (5.81,0.01), (6.98,0.01), (8.14,0.01), (9.28,0.02), (10.39,0.02), (11.47,0.03)]\nOption C\n  waypoints xy: [(5.43,-0.02), (10.82,-0.04), (16.18,-0.07), (21.47,-0.11), (26.68,-0.17), (31.78,-0.23), (36.72,-0.29), (41.49,-0.35), (46.03,-0.41), (50.33,-0.47)]\nOption D\n  waypoints xy: [(1.00,-0.00), (1.75,0.01), (2.27,0.01), (2.57,0.02), (2.71,0.02), (2.75,0.02), (2.77,0.02), (2.79,0.02), (2.81,0.02), (2.86,0.03)]\nOption E\n  waypoints xy: [(5.20,-0.02), (10.38,-0.07), (15.55,-0.13), (20.72,-0.18), (25.88,-0.24), (31.02,-0.30), (36.13,-0.35), (41.15,-0.39), (46.04,-0.42), (50.80,-0.44)]\nOption F\n  waypoints xy: [(8.15,0.01), (16.15,0.04), (23.92,0.08), (31.42,0.13), (38.59,0.19), (45.36,0.26), (51.68,0.35), (57.53,0.43), (62.88,0.49), (67.75,0.47)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.3,"cv_gap":8.731}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/eb76b10c25148e0587398b9bdbb78871-151/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/eb76b10c25148e0587398b9bdbb78871-151/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/eb76b10c25148e0587398b9bdbb78871-151/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 11.741 m/s at x-direction and 0.039 m/s at y-direction. The ego vehicle's current acceleration is -0.825 m/s^2 at x-direction and -0.123 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::eb76b10c25148e0587398b9bdbb78871-151"}},"extra_info":{"index":51,"token":"waymo_e2e::eb76b10c25148e0587398b9bdbb78871-151","id":"waymo_e2e::eb76b10c25148e0587398b9bdbb78871-151","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.96,0.01), (11.91,0.03), (17.84,0.08), (23.77,0.14), (29.68,0.22), (35.58,0.31), (41.47,0.42), (47.36,0.56), (53.22,0.73), (59.08,0.92)]\nOption B\n  waypoints xy: [(4.97,0.02), (9.79,0.06), (14.33,0.13), (18.56,0.22), (22.49,0.31), (26.13,0.39), (29.45,0.46), (32.36,0.51), (34.81,0.55), (36.80,0.56)]\nOption C\n  waypoints xy: [(5.83,0.00), (11.68,0.01), (17.54,0.02), (23.41,0.04), (29.26,0.06), (35.15,0.10), (41.04,0.15), (46.94,0.22), (52.85,0.31), (58.71,0.41)]\nOption D\n  waypoints xy: [(2.20,0.01), (4.90,0.02), (8.03,0.05), (11.54,0.10), (15.38,0.17), (19.48,0.24), (23.75,0.31), (28.07,0.38), (32.41,0.43), (36.79,0.45)]\nOption E\n  waypoints xy: [(2.37,-0.64), (4.70,-1.94), (6.90,-3.91), (9.03,-6.41), (11.23,-9.35), (13.53,-12.62), (15.96,-16.17), (18.53,-19.93), (21.20,-23.87), (23.95,-27.92)]\nOption F\n  waypoints xy: [(1.25,0.00), (2.02,0.00), (2.39,0.00), (2.49,0.00), (2.49,0.00), (2.49,0.00), (2.49,-0.00), (2.49,-0.00), (2.51,-0.00), (2.62,-0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":11.740791536862828,"cv_gap":48.617}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Sz7Uq4Iksm","cam_id":"4_resize","sample_timestamps":["000000010708_000500000000","000000010709_000000000000","000000010709_000500000000","000000010710_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000010710_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Sz7Uq4Iksm","cam_id":"2","sample_timestamps":["000000010708_000500000000","000000010709_000000000000","000000010709_000500000000","000000010710_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000010710_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Sz7Uq4Iksm","cam_id":"7","sample_timestamps":["000000010708_000500000000","000000010709_000000000000","000000010709_000500000000","000000010710_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000010710_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.900 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"Sz7Uq4Iksm"}},"extra_info":{"index":52,"token":"Sz7Uq4Iksm","id":"Sz7Uq4Iksm","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.95,0.04), (16.02,0.14), (24.23,0.31), (32.58,0.55), (41.05,0.84), (49.63,1.19), (58.29,1.58), (67.04,2.00), (75.86,2.41), (84.73,2.82)]\nOption B\n  waypoints xy: [(4.19,-0.14), (8.75,-0.42), (13.69,-0.81), (18.98,-1.25), (24.57,-1.73), (30.40,-2.21), (36.43,-2.70), (42.62,-3.21), (48.94,-3.72), (55.37,-4.25)]\nOption C\n  waypoints xy: [(6.17,-0.01), (12.34,-0.02), (18.49,-0.04), (24.61,-0.06), (30.67,-0.08), (36.67,-0.11), (42.53,-0.13), (48.22,-0.14), (53.73,-0.15), (59.06,-0.16)]\nOption D\n  waypoints xy: [(0.94,0.00), (1.87,0.00), (2.82,0.00), (3.78,0.00), (4.73,0.00), (5.69,0.00), (6.65,0.01), (7.61,0.02), (8.57,0.04), (9.54,0.08)]\nOption E\n  waypoints xy: [(0.23,-0.00), (0.43,-0.00), (0.62,-0.01), (0.81,-0.01), (0.98,-0.02), (1.14,-0.02), (1.29,-0.02), (1.43,-0.03), (1.56,-0.03), (1.70,-0.04)]\nOption F\n  waypoints xy: [(2.81,-0.07), (5.80,-0.18), (8.98,-0.34), (12.31,-0.54), (15.78,-0.75), (19.33,-0.98), (22.96,-1.21), (26.64,-1.45), (30.36,-1.69), (34.10,-1.95)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.9,"cv_gap":7.81}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"21yxsyJiJ7","cam_id":"4_resize","sample_timestamps":["000000003426_000950000000","000000003427_000200000000","000000003427_000450000000","000000003427_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003427_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"21yxsyJiJ7","cam_id":"2","sample_timestamps":["000000003426_000200000000","000000003426_000700000000","000000003427_000200000000","000000003427_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003427_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"21yxsyJiJ7","cam_id":"7","sample_timestamps":["000000003426_000200000000","000000003426_000700000000","000000003427_000200000000","000000003427_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003427_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.500 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"21yxsyJiJ7"}},"extra_info":{"index":53,"token":"21yxsyJiJ7","id":"21yxsyJiJ7","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.56,-0.00), (1.13,-0.01), (1.67,-0.01), (2.14,-0.01), (2.45,-0.01), (2.57,-0.01), (2.59,-0.02), (2.60,-0.02), (2.61,-0.02), (2.65,-0.02)]\nOption B\n  waypoints xy: [(12.10,0.03), (24.20,0.09), (36.32,0.18), (48.45,0.26), (60.61,0.37), (72.78,0.47), (84.97,0.58), (97.19,0.68), (109.42,0.79), (121.68,0.91)]\nOption C\n  waypoints xy: [(4.64,-0.00), (9.24,-0.03), (13.81,-0.06), (18.31,-0.10), (22.73,-0.15), (27.03,-0.20), (31.15,-0.26), (35.04,-0.31), (38.65,-0.36), (41.98,-0.40)]\nOption D\n  waypoints xy: [(1.45,0.00), (2.92,0.00), (4.41,0.01), (5.90,0.01), (7.40,0.03), (8.88,0.05), (10.34,0.07), (11.77,0.09), (13.16,0.11), (14.48,0.12)]\nOption E\n  waypoints xy: [(4.69,0.00), (9.48,0.02), (14.35,0.08), (19.29,0.18), (24.27,0.30), (29.29,0.43), (34.33,0.58), (39.40,0.73), (44.49,0.87), (49.56,1.00)]\nOption F\n  waypoints xy: [(2.94,0.39), (6.06,1.11), (9.35,2.08), (12.82,3.23), (16.46,4.51), (20.26,5.87), (24.20,7.29), (28.25,8.74), (32.38,10.21), (36.58,11.70)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.9,"cv_gap":11.856}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"XQlnoAQol2","cam_id":"4_resize","sample_timestamps":["000000006548_000500000000","000000006549_000000000000","000000006549_000500000000","000000006550_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006550_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XQlnoAQol2","cam_id":"2","sample_timestamps":["000000006548_000500000000","000000006549_000000000000","000000006549_000500000000","000000006550_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006550_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XQlnoAQol2","cam_id":"7","sample_timestamps":["000000006548_000500000000","000000006549_000000000000","000000006549_000500000000","000000006550_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006550_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.900 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"XQlnoAQol2"}},"extra_info":{"index":54,"token":"XQlnoAQol2","id":"XQlnoAQol2","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.59,-0.06), (9.13,-0.20), (13.61,-0.42), (18.03,-0.73), (22.38,-1.11), (26.64,-1.52), (30.82,-1.92), (34.87,-2.30), (38.76,-2.66), (42.43,-3.01)]\nOption B\n  waypoints xy: [(1.05,-0.01), (1.90,-0.01), (2.53,-0.00), (2.97,0.00), (3.22,0.00), (3.34,0.01), (3.37,0.01), (3.38,0.01), (3.39,0.01), (3.41,0.01)]\nOption C\n  waypoints xy: [(6.28,0.00), (12.20,-0.06), (17.83,-0.06), (23.15,-0.19), (28.15,-0.30), (32.82,-0.52), (37.09,-0.71), (40.94,-0.98), (44.44,-1.22), (47.64,-1.45)]\nOption D\n  waypoints xy: [(1.52,-0.01), (3.03,-0.02), (4.52,-0.05), (5.96,-0.08), (7.36,-0.12), (8.73,-0.16), (10.09,-0.20), (11.45,-0.24), (12.82,-0.29), (14.21,-0.34)]\nOption E\n  waypoints xy: [(5.13,-0.00), (10.32,-0.01), (15.56,-0.01), (20.78,-0.02), (25.98,-0.03), (31.15,-0.05), (36.29,-0.06), (41.36,-0.08), (46.37,-0.12), (51.31,-0.15)]\nOption F\n  waypoints xy: [(3.83,0.07), (7.55,0.24), (11.15,0.51), (14.63,0.88), (17.99,1.35), (21.22,1.96), (24.26,2.73), (27.12,3.65), (29.76,4.68), (32.14,5.79)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.9017236257093817,"cv_gap":11.181}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"PFV7OKMu5C","cam_id":"4_resize","sample_timestamps":["000000007545_000300000000","000000007545_000800000000","000000007546_000300000000","000000007546_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007546_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PFV7OKMu5C","cam_id":"2","sample_timestamps":["000000007545_000300000000","000000007545_000800000000","000000007546_000300000000","000000007546_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007546_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PFV7OKMu5C","cam_id":"7","sample_timestamps":["000000007545_000300000000","000000007545_000800000000","000000007546_000300000000","000000007546_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007546_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"PFV7OKMu5C"}},"extra_info":{"index":55,"token":"PFV7OKMu5C","id":"PFV7OKMu5C","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.31,-0.01), (0.56,-0.01), (0.73,-0.01), (0.85,-0.02), (0.92,-0.02), (0.97,-0.02), (1.02,-0.02), (1.10,-0.02), (1.24,-0.02), (1.45,-0.02)]\nOption B\n  waypoints xy: [(5.19,-0.01), (10.49,-0.04), (15.89,-0.09), (21.36,-0.14), (26.92,-0.21), (32.55,-0.28), (38.24,-0.35), (43.99,-0.41), (49.78,-0.48), (55.61,-0.53)]\nOption C\n  waypoints xy: [(3.46,0.02), (7.19,0.08), (11.18,0.18), (15.43,0.30), (19.93,0.44), (24.65,0.59), (29.55,0.74), (34.57,0.89), (39.67,1.03), (44.83,1.15)]\nOption D\n  waypoints xy: [(12.70,-0.15), (25.39,-0.57), (38.06,-1.29), (50.71,-2.29), (63.35,-3.57), (75.98,-5.16), (88.58,-7.06), (101.16,-9.27), (113.70,-11.79), (126.20,-14.61)]\nOption E\n  waypoints xy: [(0.75,-0.00), (1.50,-0.01), (2.24,-0.01), (2.98,-0.02), (3.73,-0.02), (4.48,-0.03), (5.24,-0.05), (6.01,-0.06), (6.79,-0.08), (7.59,-0.10)]\nOption F\n  waypoints xy: [(4.83,0.04), (9.63,0.13), (14.40,0.28), (19.12,0.50), (23.79,0.78), (28.42,1.12), (33.00,1.51), (37.54,1.92), (42.03,2.34), (46.47,2.74)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5,"cv_gap":6.109}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/fb9b418bd431a53ce572d2d8f1e686d5-167/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/fb9b418bd431a53ce572d2d8f1e686d5-167/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/fb9b418bd431a53ce572d2d8f1e686d5-167/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.182 m/s at x-direction and -0.001 m/s at y-direction. The ego vehicle's current acceleration is -0.308 m/s^2 at x-direction and -0.034 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::fb9b418bd431a53ce572d2d8f1e686d5-167"}},"extra_info":{"index":56,"token":"waymo_e2e::fb9b418bd431a53ce572d2d8f1e686d5-167","id":"waymo_e2e::fb9b418bd431a53ce572d2d8f1e686d5-167","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.59,-0.28), (3.00,-1.18), (4.13,-2.54), (5.05,-4.14), (5.72,-5.88), (6.32,-7.68), (6.86,-9.51), (7.33,-11.37), (7.73,-13.23), (8.09,-15.02)]\nOption B\n  waypoints xy: [(1.31,-0.29), (2.56,-0.87), (3.69,-1.78), (4.62,-3.04), (5.30,-4.61), (5.70,-6.45), (5.84,-8.52), (5.82,-10.76), (5.69,-13.18), (5.51,-15.76)]\nOption C\n  waypoints xy: [(2.66,0.00), (5.31,0.01), (7.96,0.02), (10.58,0.03), (13.18,0.04), (15.77,0.05), (18.31,0.05), (20.79,0.06), (23.21,0.06), (25.62,0.06)]\nOption D\n  waypoints xy: [(7.87,-0.01), (15.76,-0.05), (23.69,-0.09), (31.65,-0.16), (39.60,-0.23), (47.56,-0.30), (55.51,-0.38), (63.46,-0.46), (71.42,-0.54), (79.39,-0.61)]\nOption E\n  waypoints xy: [(7.17,-0.00), (14.26,-0.01), (21.25,0.00), (28.14,0.01), (34.91,0.02), (41.51,0.04), (47.90,0.05), (54.06,0.07), (59.99,0.09), (65.68,0.10)]\nOption F\n  waypoints xy: [(2.05,0.02), (4.02,0.06), (5.93,0.11), (7.77,0.18), (9.58,0.25), (11.31,0.33), (12.94,0.43), (14.48,0.55), (15.93,0.70), (17.31,0.88)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.181873345979722,"cv_gap":8.289}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"YRXBwlMjLB","cam_id":"4_resize","sample_timestamps":["000000007240_000300000000","000000007240_000800000000","000000007241_000300000000","000000007241_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007241_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"YRXBwlMjLB","cam_id":"2","sample_timestamps":["000000007240_000300000000","000000007240_000800000000","000000007241_000300000000","000000007241_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007241_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"YRXBwlMjLB","cam_id":"7","sample_timestamps":["000000007240_000300000000","000000007240_000800000000","000000007241_000300000000","000000007241_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007241_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"YRXBwlMjLB"}},"extra_info":{"index":57,"token":"YRXBwlMjLB","id":"YRXBwlMjLB","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.52,-0.02), (11.04,-0.04), (16.58,-0.07), (22.16,-0.12), (27.76,-0.17), (33.41,-0.24), (39.09,-0.32), (44.80,-0.41), (50.54,-0.51), (56.32,-0.63)]\nOption B\n  waypoints xy: [(0.54,-0.00), (1.01,-0.01), (1.38,-0.01), (1.65,-0.02), (1.78,-0.02), (1.82,-0.02), (1.83,-0.02), (1.83,-0.02), (1.83,-0.02), (1.85,-0.02)]\nOption C\n  waypoints xy: [(0.75,-0.00), (1.50,-0.01), (2.24,-0.01), (2.98,-0.02), (3.73,-0.02), (4.48,-0.03), (5.24,-0.05), (6.01,-0.06), (6.79,-0.08), (7.59,-0.10)]\nOption D\n  waypoints xy: [(11.31,0.01), (22.61,0.01), (33.91,0.01), (45.21,0.01), (56.53,0.01), (67.86,0.02), (79.20,0.00), (90.57,-0.01), (101.98,-0.04), (113.41,-0.10)]\nOption E\n  waypoints xy: [(4.26,-0.00), (8.25,-0.01), (12.05,-0.03), (15.71,-0.06), (19.33,-0.09), (22.93,-0.13), (26.54,-0.16), (30.29,-0.19), (34.11,-0.20), (38.00,-0.15)]\nOption F\n  waypoints xy: [(3.78,-0.04), (7.65,-0.13), (11.59,-0.27), (15.60,-0.43), (19.67,-0.62), (23.77,-0.83), (27.92,-1.06), (32.07,-1.31), (36.21,-1.56), (40.31,-1.83)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5,"cv_gap":5.582}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/aebc1629d91e5bdef01b1d577534c556-043/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/aebc1629d91e5bdef01b1d577534c556-043/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/aebc1629d91e5bdef01b1d577534c556-043/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.631 m/s at x-direction and -0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.221 m/s^2 at x-direction and -0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::aebc1629d91e5bdef01b1d577534c556-043"}},"extra_info":{"index":58,"token":"waymo_e2e::aebc1629d91e5bdef01b1d577534c556-043","id":"waymo_e2e::aebc1629d91e5bdef01b1d577534c556-043","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.21,-0.01), (10.48,-0.03), (15.77,-0.06), (21.09,-0.10), (26.42,-0.14), (31.77,-0.19), (37.14,-0.25), (42.51,-0.30), (47.88,-0.35), (53.25,-0.39)]\nOption B\n  waypoints xy: [(2.37,-0.00), (4.72,-0.00), (7.07,-0.01), (9.42,-0.01), (11.75,-0.02), (14.06,-0.03), (16.34,-0.05), (18.60,-0.07), (20.87,-0.09), (23.12,-0.11)]\nOption C\n  waypoints xy: [(7.19,0.01), (14.33,0.05), (21.43,0.11), (28.48,0.20), (35.50,0.31), (42.48,0.42), (49.42,0.56), (56.33,0.71), (63.21,0.90), (70.06,1.10)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(2.21,0.00), (4.20,0.00), (5.95,-0.01), (7.45,-0.02), (8.71,-0.04), (9.75,-0.05), (10.56,-0.07), (11.17,-0.08), (11.61,-0.09), (11.95,-0.09)]\nOption F\n  waypoints xy: [(5.60,-0.00), (11.20,-0.01), (16.82,-0.01), (22.34,-0.02), (27.57,-0.03), (32.58,-0.04), (37.46,-0.06), (42.30,-0.07), (47.13,-0.09), (51.96,-0.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.630748989251587,"cv_gap":11.339}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/77184b59e6df13ed3e4146f5f9891dfd-096/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/77184b59e6df13ed3e4146f5f9891dfd-096/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/77184b59e6df13ed3e4146f5f9891dfd-096/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.976 m/s at x-direction and -0.014 m/s at y-direction. The ego vehicle's current acceleration is -0.049 m/s^2 at x-direction and -0.014 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::77184b59e6df13ed3e4146f5f9891dfd-096"}},"extra_info":{"index":59,"token":"waymo_e2e::77184b59e6df13ed3e4146f5f9891dfd-096","id":"waymo_e2e::77184b59e6df13ed3e4146f5f9891dfd-096","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.90,0.00), (3.86,0.00), (5.87,0.00), (7.87,0.01), (9.87,0.00), (11.88,-0.00), (13.86,-0.01), (15.83,-0.03), (17.77,-0.06), (19.65,-0.12)]\nOption B\n  waypoints xy: [(12.14,-0.07), (24.29,-0.27), (36.45,-0.59), (48.62,-1.04), (60.77,-1.61), (72.90,-2.28), (85.00,-3.07), (97.08,-3.95), (109.14,-4.94), (121.19,-6.03)]\nOption C\n  waypoints xy: [(4.83,0.00), (9.88,0.05), (15.16,0.05), (20.65,0.11), (26.26,0.04), (31.98,-0.02), (37.83,-0.10), (43.75,-0.23), (49.65,-0.37), (55.42,-0.56)]\nOption D\n  waypoints xy: [(2.02,0.00), (3.78,0.01), (5.25,0.02), (6.40,0.03), (7.22,0.03), (7.72,0.04), (7.93,0.04), (8.00,0.04), (8.03,0.04), (8.08,0.04)]\nOption E\n  waypoints xy: [(8.52,0.02), (17.17,0.13), (25.96,0.29), (34.86,0.52), (43.85,0.82), (52.91,1.20), (62.05,1.64), (71.25,2.14), (80.50,2.70), (89.78,3.29)]\nOption F\n  waypoints xy: [(4.92,-0.00), (9.74,-0.01), (14.44,-0.03), (18.99,-0.04), (23.41,-0.05), (27.75,-0.06), (32.02,-0.07), (36.28,-0.08), (40.51,-0.09), (44.74,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.97593408071689,"cv_gap":11.882}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ScOawXxkDX","cam_id":"4_resize","sample_timestamps":["000000009797_000900000000","000000009798_000400000000","000000009798_000900000000","000000009799_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009799_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ScOawXxkDX","cam_id":"2","sample_timestamps":["000000009797_000900000000","000000009798_000400000000","000000009798_000900000000","000000009799_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009799_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ScOawXxkDX","cam_id":"7","sample_timestamps":["000000009797_000900000000","000000009798_000400000000","000000009798_000900000000","000000009799_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009799_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 6.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.300 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"ScOawXxkDX"}},"extra_info":{"index":60,"token":"ScOawXxkDX","id":"ScOawXxkDX","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.77,0.00), (9.57,-0.00), (14.41,-0.01), (19.27,0.03), (24.14,0.12), (29.02,0.26), (33.91,0.47), (38.79,0.73), (43.68,1.02), (48.54,1.34)]\nOption B\n  waypoints xy: [(5.72,0.00), (11.44,0.01), (17.13,0.01), (22.79,0.02), (28.40,0.03), (33.98,0.02), (39.51,0.01), (45.00,-0.00), (50.43,-0.03), (55.78,-0.07)]\nOption C\n  waypoints xy: [(3.11,-0.01), (6.17,-0.01), (9.30,-0.02), (12.52,-0.03), (15.80,-0.04), (19.09,-0.06), (22.36,-0.08), (25.59,-0.10), (28.77,-0.11), (31.88,-0.12)]\nOption D\n  waypoints xy: [(2.00,0.00), (3.68,0.01), (4.99,0.02), (5.91,0.02), (6.44,0.02), (6.66,0.03), (6.68,0.03), (6.68,0.03), (6.68,0.03), (6.68,0.03)]\nOption E\n  waypoints xy: [(4.12,0.01), (8.37,0.01), (12.76,-0.02), (17.29,-0.10), (21.93,-0.25), (26.67,-0.44), (31.49,-0.67), (36.39,-0.89), (41.33,-1.13), (46.31,-1.36)]\nOption F\n  waypoints xy: [(8.99,-0.01), (18.09,-0.07), (27.31,-0.16), (36.60,-0.29), (45.92,-0.43), (55.25,-0.60), (64.59,-0.79), (73.90,-0.97), (83.16,-1.15), (92.36,-1.32)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.4,"cv_gap":25.125}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/ca94b684137275c69dbaccd74a0ba047-060/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ca94b684137275c69dbaccd74a0ba047-060/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ca94b684137275c69dbaccd74a0ba047-060/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.719 m/s at x-direction and 0.010 m/s at y-direction. The ego vehicle's current acceleration is -0.404 m/s^2 at x-direction and -0.019 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::ca94b684137275c69dbaccd74a0ba047-060"}},"extra_info":{"index":61,"token":"waymo_e2e::ca94b684137275c69dbaccd74a0ba047-060","id":"waymo_e2e::ca94b684137275c69dbaccd74a0ba047-060","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.37,0.05), (14.72,0.17), (22.06,0.36), (29.38,0.59), (36.68,0.85), (43.96,1.12), (51.23,1.38), (58.48,1.64), (65.72,1.89), (72.91,2.13)]\nOption B\n  waypoints xy: [(2.87,-0.01), (5.50,-0.02), (7.86,-0.03), (9.94,-0.04), (11.77,-0.06), (13.40,-0.07), (14.88,-0.08), (16.24,-0.10), (17.48,-0.11), (18.63,-0.13)]\nOption C\n  waypoints xy: [(0.96,0.09), (2.12,0.35), (3.44,0.91), (4.82,1.87), (6.13,3.27), (7.24,5.13), (8.05,7.39), (8.59,10.00), (8.94,12.91), (9.18,16.07)]\nOption D\n  waypoints xy: [(12.03,0.12), (24.04,0.48), (36.02,1.09), (47.97,1.94), (59.89,3.03), (71.78,4.35), (83.63,5.89), (95.45,7.65), (107.23,9.62), (118.98,11.78)]\nOption E\n  waypoints xy: [(3.38,-0.01), (6.72,-0.01), (10.05,-0.02), (13.37,-0.04), (16.69,-0.05), (20.04,-0.05), (23.42,-0.04), (26.84,-0.01), (30.31,0.03), (33.82,0.06)]\nOption F\n  waypoints xy: [(0.45,0.03), (1.16,0.11), (2.27,0.35), (3.72,0.93), (5.33,2.04), (6.86,3.75), (8.13,6.06), (9.00,8.91), (9.52,12.19), (9.78,15.84)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.718916783452545,"cv_gap":15.473}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"bETNq8o51F","cam_id":"4_resize","sample_timestamps":["001751056924_000800000000","001751056925_000300000000","001751056925_000800000000","001751056926_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001751056926_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bETNq8o51F","cam_id":"2","sample_timestamps":["001751056924_000800000000","001751056925_000300000000","001751056925_000800000000","001751056926_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001751056926_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bETNq8o51F","cam_id":"7","sample_timestamps":["001751056924_000800000000","001751056925_000300000000","001751056925_000800000000","001751056926_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001751056926_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -3.600 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"bETNq8o51F"}},"extra_info":{"index":62,"token":"bETNq8o51F","id":"bETNq8o51F","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.23,-0.00), (0.38,-0.00), (0.45,0.00), (0.47,0.00), (0.48,0.00), (0.48,0.00), (0.49,0.00), (0.49,0.00), (0.50,0.00), (0.51,0.00)]\nOption B\n  waypoints xy: [(3.47,-0.01), (7.04,-0.03), (10.68,-0.07), (14.37,-0.16), (18.08,-0.34), (21.77,-0.60), (25.44,-0.97), (28.99,-1.45), (32.38,-2.07), (35.62,-2.85)]\nOption C\n  waypoints xy: [(1.26,-0.01), (2.50,-0.02), (3.72,-0.03), (4.95,-0.05), (6.18,-0.08), (7.42,-0.11), (8.69,-0.15), (9.97,-0.19), (11.28,-0.24), (12.58,-0.30)]\nOption D\n  waypoints xy: [(8.55,-0.00), (17.15,-0.00), (25.82,0.00), (34.58,0.02), (43.43,0.04), (52.38,0.08), (61.41,0.13), (70.53,0.19), (79.72,0.26), (88.95,0.34)]\nOption E\n  waypoints xy: [(3.44,0.13), (6.91,0.19), (10.38,0.04), (13.85,-0.29), (17.34,-0.67), (20.85,-0.93), (24.36,-1.03), (27.89,-0.99), (31.42,-0.82), (34.98,-0.62)]\nOption F\n  waypoints xy: [(4.56,-0.03), (9.11,-0.11), (13.63,-0.20), (18.10,-0.31), (22.49,-0.42), (26.81,-0.52), (31.08,-0.64), (35.29,-0.75), (39.44,-0.86), (43.51,-0.95)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.5,"cv_gap":11.945}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"wB5sbfAOzs","cam_id":"4_resize","sample_timestamps":["000000001052_000300000000","000000001052_000800000000","000000001053_000300000000","000000001053_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001053_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"wB5sbfAOzs","cam_id":"2","sample_timestamps":["000000001052_000300000000","000000001052_000800000000","000000001053_000300000000","000000001053_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001053_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"wB5sbfAOzs","cam_id":"7","sample_timestamps":["000000001052_000300000000","000000001052_000800000000","000000001053_000300000000","000000001053_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001053_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.400 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"wB5sbfAOzs"}},"extra_info":{"index":63,"token":"wB5sbfAOzs","id":"wB5sbfAOzs","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.10,0.02), (8.22,0.08), (12.34,0.17), (16.43,0.30), (20.48,0.48), (24.51,0.73), (28.50,1.04), (32.44,1.42), (36.37,1.76), (40.28,2.01)]\nOption B\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\nOption C\n  waypoints xy: [(1.60,-0.01), (2.92,-0.03), (3.99,-0.04), (4.80,-0.05), (5.42,-0.06), (5.91,-0.06), (6.37,-0.06), (6.88,-0.06), (7.50,-0.05), (8.21,-0.05)]\nOption D\n  waypoints xy: [(8.99,-0.01), (18.09,-0.07), (27.31,-0.16), (36.60,-0.29), (45.92,-0.43), (55.25,-0.60), (64.59,-0.79), (73.90,-0.97), (83.16,-1.15), (92.36,-1.32)]\nOption E\n  waypoints xy: [(4.66,-0.01), (9.32,-0.02), (13.94,-0.05), (18.51,-0.09), (23.02,-0.14), (27.45,-0.20), (31.78,-0.28), (36.00,-0.36), (40.09,-0.43), (44.04,-0.51)]\nOption F\n  waypoints xy: [(3.68,-0.02), (7.51,-0.04), (11.47,-0.09), (15.54,-0.14), (19.69,-0.20), (23.86,-0.25), (28.03,-0.30), (32.16,-0.35), (36.20,-0.41), (40.10,-0.44)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.4,"cv_gap":18.23}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"CXW0HaNS2U","cam_id":"4_resize","sample_timestamps":["000000018736_000100000000","000000018736_000600000000","000000018737_000100000000","000000018737_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000018737_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"CXW0HaNS2U","cam_id":"2","sample_timestamps":["000000018736_000100000000","000000018736_000600000000","000000018737_000100000000","000000018737_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000018737_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"CXW0HaNS2U","cam_id":"7","sample_timestamps":["000000018736_000100000000","000000018736_000600000000","000000018737_000100000000","000000018737_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000018737_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.300 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.300 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"CXW0HaNS2U"}},"extra_info":{"index":64,"token":"CXW0HaNS2U","id":"CXW0HaNS2U","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.41,-0.04), (8.87,-0.15), (13.37,-0.30), (17.91,-0.50), (22.49,-0.72), (27.10,-0.98), (31.72,-1.26), (36.31,-1.57), (40.85,-1.87), (45.31,-2.16)]\nOption B\n  waypoints xy: [(2.73,-0.01), (5.16,-0.02), (7.23,-0.04), (8.87,-0.06), (10.08,-0.08), (10.87,-0.09), (11.26,-0.10), (11.38,-0.10), (11.41,-0.10), (11.47,-0.10)]\nOption C\n  waypoints xy: [(7.26,-0.03), (14.51,-0.10), (21.73,-0.19), (28.92,-0.29), (36.06,-0.40), (43.15,-0.52), (50.18,-0.65), (57.13,-0.79), (64.00,-0.94), (70.81,-1.07)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(7.34,0.02), (14.62,0.06), (21.85,0.16), (29.03,0.31), (36.14,0.52), (43.19,0.81), (50.15,1.22), (57.00,1.72), (63.75,2.34), (70.38,3.08)]\nOption F\n  waypoints xy: [(2.58,-0.00), (5.19,-0.00), (7.84,0.00), (10.53,0.02), (13.25,0.04), (15.98,0.06), (18.69,0.09), (21.38,0.11), (24.03,0.13), (26.67,0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.3,"cv_gap":15.15}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"VozZzDT1RT","cam_id":"4_resize","sample_timestamps":["000000004360_000100000000","000000004360_000600000000","000000004361_000100000000","000000004361_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004361_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"VozZzDT1RT","cam_id":"2","sample_timestamps":["000000004360_000100000000","000000004360_000600000000","000000004361_000100000000","000000004361_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004361_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"VozZzDT1RT","cam_id":"7","sample_timestamps":["000000004360_000100000000","000000004360_000600000000","000000004361_000100000000","000000004361_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004361_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 2.900 m/s at x-direction and 0.200 m/s at y-direction. The ego vehicle's current acceleration is 0.800 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"VozZzDT1RT"}},"extra_info":{"index":65,"token":"VozZzDT1RT","id":"VozZzDT1RT","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.41,-0.10), (2.59,-0.22), (3.46,-0.35), (4.04,-0.46), (4.36,-0.52), (4.52,-0.56), (4.57,-0.57), (4.60,-0.57), (4.62,-0.58), (4.67,-0.59)]\nOption B\n  waypoints xy: [(12.34,0.09), (24.62,0.40), (36.84,0.91), (49.03,1.56), (61.23,2.28), (73.44,3.07), (85.66,3.90), (97.89,4.75), (110.17,5.62), (122.49,6.47)]\nOption C\n  waypoints xy: [(1.44,0.02), (2.86,0.08), (4.28,0.16), (5.70,0.27), (7.11,0.39), (8.52,0.52), (9.91,0.67), (11.29,0.81), (12.66,0.95), (14.04,1.09)]\nOption D\n  waypoints xy: [(3.16,0.59), (6.33,1.94), (9.35,4.14), (12.13,7.16), (14.84,10.74), (17.69,14.70), (20.76,18.99), (24.05,23.56), (27.47,28.30), (30.96,33.14)]\nOption E\n  waypoints xy: [(3.71,-0.01), (7.42,-0.03), (11.11,-0.07), (14.77,-0.12), (18.41,-0.18), (22.01,-0.25), (25.55,-0.34), (29.03,-0.44), (32.48,-0.55), (35.89,-0.67)]\nOption F\n  waypoints xy: [(4.82,-0.00), (9.79,0.00), (14.90,0.02), (20.10,0.03), (25.38,0.06), (30.71,0.08), (36.07,0.12), (41.43,0.15), (46.78,0.18), (52.10,0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.9068883707497264,"cv_gap":9.937}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"3sopjpfhdY","cam_id":"4_resize","sample_timestamps":["000000007611_000300000000","000000007611_000800000000","000000007612_000300000000","000000007612_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007612_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"3sopjpfhdY","cam_id":"2","sample_timestamps":["000000007611_000300000000","000000007611_000800000000","000000007612_000300000000","000000007612_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007612_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"3sopjpfhdY","cam_id":"7","sample_timestamps":["000000007611_000300000000","000000007611_000800000000","000000007612_000300000000","000000007612_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007612_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.700 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"3sopjpfhdY"}},"extra_info":{"index":66,"token":"3sopjpfhdY","id":"3sopjpfhdY","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.26,0.05), (12.57,0.19), (18.94,0.42), (25.35,0.73), (31.82,1.12), (38.33,1.55), (44.89,2.02), (51.47,2.51), (58.07,3.01), (64.67,3.52)]\nOption B\n  waypoints xy: [(1.33,0.00), (2.67,0.01), (4.00,0.01), (5.36,0.02), (6.73,0.02), (8.13,0.03), (9.53,0.03), (10.93,0.03), (12.31,0.03), (13.66,0.02)]\nOption C\n  waypoints xy: [(6.60,0.00), (13.18,0.00), (19.74,0.01), (26.26,0.02), (32.75,0.05), (39.20,0.09), (45.60,0.13), (51.95,0.18), (58.24,0.25), (64.44,0.33)]\nOption D\n  waypoints xy: [(5.22,-0.01), (10.44,-0.02), (15.65,-0.02), (20.84,-0.03), (25.93,-0.04), (30.88,-0.05), (35.69,-0.06), (40.36,-0.06), (44.88,-0.05), (49.24,-0.04)]\nOption E\n  waypoints xy: [(12.79,0.04), (25.40,0.21), (37.70,0.49), (49.80,0.89), (61.85,1.40), (73.88,1.99), (85.85,2.68), (97.58,3.40), (109.00,4.13), (120.31,4.86)]\nOption F\n  waypoints xy: [(0.58,-0.00), (0.99,-0.01), (1.28,-0.01), (1.48,-0.01), (1.63,-0.02), (1.74,-0.02), (1.83,-0.02), (1.92,-0.02), (2.00,-0.02), (2.08,-0.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.7,"cv_gap":11.389}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/ce8a64c3bb081802d78fe47ed27ed002-124/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ce8a64c3bb081802d78fe47ed27ed002-124/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ce8a64c3bb081802d78fe47ed27ed002-124/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.322 m/s at x-direction and -0.009 m/s at y-direction. The ego vehicle's current acceleration is -0.229 m/s^2 at x-direction and -0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::ce8a64c3bb081802d78fe47ed27ed002-124"}},"extra_info":{"index":67,"token":"waymo_e2e::ce8a64c3bb081802d78fe47ed27ed002-124","id":"waymo_e2e::ce8a64c3bb081802d78fe47ed27ed002-124","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption B\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption C\n  waypoints xy: [(2.58,-0.00), (5.19,-0.00), (7.84,0.00), (10.53,0.02), (13.25,0.04), (15.98,0.06), (18.69,0.09), (21.38,0.11), (24.03,0.13), (26.67,0.14)]\nOption D\n  waypoints xy: [(6.43,-0.00), (12.95,0.00), (19.56,0.01), (26.22,0.02), (32.91,0.04), (39.62,0.06), (46.34,0.08), (53.05,0.10), (59.77,0.11), (66.49,0.12)]\nOption E\n  waypoints xy: [(4.20,-0.15), (8.76,-0.55), (13.64,-0.80), (18.84,-1.07), (24.40,-1.29), (30.21,-1.38), (36.26,-1.35), (42.53,-1.31), (48.99,-1.12), (55.62,-0.86)]\nOption F\n  waypoints xy: [(2.51,-0.00), (4.78,0.00), (6.78,0.00), (8.49,0.00), (9.91,0.00), (11.03,0.00), (11.85,0.00), (12.39,0.00), (12.70,0.00), (12.86,0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.322089890333929,"cv_gap":13.564}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"BUqtgzRAs0","cam_id":"4_resize","sample_timestamps":["000000018145_000900000000","000000018146_000400000000","000000018146_000900000000","000000018147_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000018147_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"BUqtgzRAs0","cam_id":"2","sample_timestamps":["000000018145_000900000000","000000018146_000400000000","000000018146_000900000000","000000018147_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000018147_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"BUqtgzRAs0","cam_id":"7","sample_timestamps":["000000018145_000900000000","000000018146_000400000000","000000018146_000900000000","000000018147_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000018147_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.800 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.900 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"BUqtgzRAs0"}},"extra_info":{"index":68,"token":"BUqtgzRAs0","id":"BUqtgzRAs0","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.95,0.03), (8.10,0.09), (12.47,0.18), (17.04,0.31), (21.81,0.45), (26.75,0.62), (31.84,0.81), (37.04,1.00), (42.34,1.18), (47.69,1.37)]\nOption B\n  waypoints xy: [(1.85,0.02), (3.72,0.07), (5.61,0.13), (7.51,0.19), (9.40,0.25), (11.27,0.30), (13.11,0.35), (14.92,0.40), (16.69,0.46), (18.42,0.51)]\nOption C\n  waypoints xy: [(1.36,-0.01), (2.58,-0.03), (3.58,-0.05), (4.34,-0.06), (4.85,-0.07), (5.17,-0.08), (5.35,-0.08), (5.47,-0.09), (5.51,-0.09), (5.51,-0.09)]\nOption D\n  waypoints xy: [(5.84,0.03), (11.68,0.12), (17.55,0.26), (23.42,0.40), (29.29,0.55), (35.18,0.66), (41.02,0.74), (46.73,0.84), (52.21,0.97), (57.41,1.17)]\nOption E\n  waypoints xy: [(3.94,0.01), (7.93,0.02), (11.96,0.04), (15.97,0.07), (19.94,0.09), (23.82,0.10), (27.48,0.10), (30.74,0.09), (33.54,0.07), (35.88,0.06)]\nOption F\n  waypoints xy: [(6.28,0.00), (12.56,0.01), (18.83,0.03), (25.11,0.06), (31.36,0.08), (37.56,0.10), (43.70,0.12), (49.77,0.13), (55.76,0.13), (61.66,0.13)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.8013155617496426,"cv_gap":13.608}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Kx86HPeDkS","cam_id":"4_resize","sample_timestamps":["001753081373_000300000000","001753081373_000800000000","001753081374_000300000000","001753081374_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001753081374_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Kx86HPeDkS","cam_id":"2","sample_timestamps":["001753081373_000300000000","001753081373_000800000000","001753081374_000300000000","001753081374_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001753081374_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Kx86HPeDkS","cam_id":"7","sample_timestamps":["001753081373_000300000000","001753081373_000800000000","001753081374_000300000000","001753081374_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001753081374_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.400 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -2.500 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"Kx86HPeDkS"}},"extra_info":{"index":69,"token":"Kx86HPeDkS","id":"Kx86HPeDkS","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.27,-0.00), (0.30,-0.00), (0.29,-0.00), (0.29,-0.00), (0.29,-0.00), (0.28,-0.00), (0.28,-0.00), (0.28,-0.00), (0.28,-0.00), (0.29,-0.00)]\nOption B\n  waypoints xy: [(1.14,-0.00), (2.36,-0.01), (3.63,-0.03), (4.91,-0.05), (6.17,-0.08), (7.39,-0.11), (8.54,-0.15), (9.62,-0.19), (10.68,-0.23), (11.72,-0.27)]\nOption C\n  waypoints xy: [(2.52,-0.00), (5.40,0.00), (8.61,0.01), (12.15,0.03), (15.99,0.06), (20.09,0.09), (24.41,0.14), (28.88,0.18), (33.49,0.22), (38.18,0.24)]\nOption D\n  waypoints xy: [(3.98,-0.06), (8.25,-0.16), (12.81,-0.31), (17.66,-0.49), (22.76,-0.70), (28.07,-0.93), (33.56,-1.18), (39.19,-1.45), (44.92,-1.72), (50.74,-1.99)]\nOption E\n  waypoints xy: [(3.17,-0.01), (6.46,-0.03), (9.84,-0.06), (13.35,-0.11), (17.01,-0.16), (20.84,-0.23), (24.81,-0.32), (28.92,-0.42), (33.12,-0.54), (37.41,-0.67)]\nOption F\n  waypoints xy: [(3.40,0.00), (6.75,0.01), (10.14,0.02), (13.53,0.02), (16.89,0.01), (20.24,-0.00), (23.55,-0.02), (26.81,-0.05), (29.99,-0.07), (33.11,-0.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.4020824298928627,"cv_gap":11.706}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"J8jhYOuhAi","cam_id":"4_resize","sample_timestamps":["000000000247_000000000000","000000000247_000500000000","000000000248_000000000000","000000000248_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000248_000550000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"J8jhYOuhAi","cam_id":"2","sample_timestamps":["000000000247_000000000000","000000000247_000500000000","000000000248_000000000000","000000000248_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000248_000550000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"J8jhYOuhAi","cam_id":"7","sample_timestamps":["000000000247_000000000000","000000000247_000500000000","000000000248_000000000000","000000000248_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000248_000550000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.200 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"J8jhYOuhAi"}},"extra_info":{"index":70,"token":"J8jhYOuhAi","id":"J8jhYOuhAi","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.78,-0.02), (6.23,-0.05), (10.33,-0.08), (15.04,-0.11), (20.24,-0.13), (25.81,-0.13), (31.59,-0.10), (37.52,-0.04), (43.58,0.03), (49.74,0.12)]\nOption B\n  waypoints xy: [(5.42,-0.00), (10.90,-0.01), (16.42,-0.01), (21.98,-0.01), (27.56,-0.01), (33.17,-0.02), (38.79,-0.04), (44.44,-0.06), (50.10,-0.09), (55.77,-0.12)]\nOption C\n  waypoints xy: [(3.84,0.01), (7.88,0.03), (12.07,0.07), (16.38,0.13), (20.77,0.21), (25.24,0.32), (29.81,0.41), (34.46,0.51), (39.15,0.62), (43.87,0.73)]\nOption D\n  waypoints xy: [(1.14,0.00), (2.25,-0.01), (3.34,-0.01), (4.40,-0.02), (5.48,-0.01), (6.59,0.00), (7.70,0.03), (8.78,0.04), (9.83,0.06), (10.86,0.08)]\nOption E\n  waypoints xy: [(0.97,-0.00), (1.74,0.00), (2.50,0.01), (3.15,0.01), (3.70,0.01), (4.19,0.02), (4.60,0.02), (5.05,0.03), (5.50,0.04), (5.86,0.05)]\nOption F\n  waypoints xy: [(3.10,0.01), (6.39,0.02), (9.91,0.04), (13.67,0.10), (17.71,0.19), (22.00,0.31), (26.46,0.46), (31.06,0.59), (35.76,0.73), (40.52,0.87)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.2,"cv_gap":5.047}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/73f99122ae7a2b9dbd43529604284f70-112/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/73f99122ae7a2b9dbd43529604284f70-112/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/73f99122ae7a2b9dbd43529604284f70-112/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 3.001 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.334 m/s^2 at x-direction and 0.018 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::73f99122ae7a2b9dbd43529604284f70-112"}},"extra_info":{"index":71,"token":"waymo_e2e::73f99122ae7a2b9dbd43529604284f70-112","id":"waymo_e2e::73f99122ae7a2b9dbd43529604284f70-112","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(12.38,-0.04), (24.64,-0.13), (36.77,-0.29), (48.74,-0.52), (60.53,-0.83), (72.15,-1.20), (83.66,-1.64), (95.06,-2.13), (106.26,-2.65), (117.23,-3.14)]\nOption B\n  waypoints xy: [(8.09,0.00), (16.18,0.02), (24.24,0.05), (32.26,0.09), (40.23,0.12), (48.15,0.16), (56.00,0.21), (63.78,0.29), (71.49,0.37), (79.15,0.46)]\nOption C\n  waypoints xy: [(3.03,0.51), (6.13,1.61), (9.22,3.23), (12.33,5.22), (15.50,7.49), (18.81,9.96), (22.30,12.55), (25.93,15.25), (29.71,18.03), (33.58,20.86)]\nOption D\n  waypoints xy: [(5.22,-0.01), (10.44,-0.02), (15.65,-0.02), (20.84,-0.03), (25.93,-0.04), (30.88,-0.05), (35.69,-0.06), (40.36,-0.06), (44.88,-0.05), (49.24,-0.04)]\nOption E\n  waypoints xy: [(1.34,-0.01), (2.54,-0.03), (3.57,-0.04), (4.42,-0.04), (5.07,-0.03), (5.52,-0.02), (5.80,-0.02), (5.95,-0.01), (6.03,-0.01), (6.09,-0.01)]\nOption F\n  waypoints xy: [(1.53,0.00), (3.07,0.01), (4.65,0.01), (6.20,0.02), (7.71,0.03), (9.17,0.04), (10.62,0.06), (12.09,0.07), (13.60,0.10), (15.13,0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.000989355197895,"cv_gap":8.666}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"41wr47ohRs","cam_id":"4_resize","sample_timestamps":["001753078681_000000000000","001753078681_000500000000","001753078682_000000000000","001753078682_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001753078682_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"41wr47ohRs","cam_id":"2","sample_timestamps":["001753078681_000000000000","001753078681_000500000000","001753078682_000000000000","001753078682_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001753078682_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"41wr47ohRs","cam_id":"7","sample_timestamps":["001753078681_000000000000","001753078681_000500000000","001753078682_000000000000","001753078682_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001753078682_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 7.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"41wr47ohRs"}},"extra_info":{"index":72,"token":"41wr47ohRs","id":"41wr47ohRs","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.55,0.00), (9.45,0.01), (14.66,0.03), (20.13,0.07), (25.85,0.12), (31.78,0.17), (37.90,0.23), (44.16,0.30), (50.53,0.37), (56.97,0.45)]\nOption B\n  waypoints xy: [(1.59,-0.28), (3.00,-1.18), (4.13,-2.54), (5.05,-4.14), (5.72,-5.88), (6.32,-7.68), (6.86,-9.51), (7.33,-11.37), (7.73,-13.23), (8.09,-15.02)]\nOption C\n  waypoints xy: [(1.31,-0.29), (2.56,-0.87), (3.69,-1.78), (4.62,-3.04), (5.30,-4.61), (5.70,-6.45), (5.84,-8.52), (5.82,-10.76), (5.69,-13.18), (5.51,-15.76)]\nOption D\n  waypoints xy: [(2.27,-0.00), (4.42,-0.01), (6.41,-0.01), (8.25,-0.01), (9.92,-0.02), (11.43,-0.02), (12.78,-0.03), (14.02,-0.04), (15.19,-0.05), (16.30,-0.07)]\nOption E\n  waypoints xy: [(3.68,-0.00), (7.33,-0.01), (10.98,-0.01), (14.65,-0.02), (18.34,-0.02), (22.06,-0.04), (25.81,-0.05), (29.57,-0.07), (33.35,-0.08), (37.11,-0.09)]\nOption F\n  waypoints xy: [(5.06,0.00), (10.13,0.00), (15.21,0.01), (20.31,0.05), (25.43,0.12), (30.55,0.21), (35.70,0.31), (40.86,0.42), (46.03,0.53), (51.22,0.64)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.4,"cv_gap":20.21}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/e76895cdbef0dbeda92be0ac7b345a0c-036/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/e76895cdbef0dbeda92be0ac7b345a0c-036/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/e76895cdbef0dbeda92be0ac7b345a0c-036/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.095 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.190 m/s^2 at x-direction and 0.021 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::e76895cdbef0dbeda92be0ac7b345a0c-036"}},"extra_info":{"index":73,"token":"waymo_e2e::e76895cdbef0dbeda92be0ac7b345a0c-036","id":"waymo_e2e::e76895cdbef0dbeda92be0ac7b345a0c-036","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption B\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption C\n  waypoints xy: [(5.97,-0.01), (12.02,-0.02), (18.13,-0.03), (24.27,-0.05), (30.40,-0.04), (36.52,-0.03), (42.61,-0.04), (48.64,-0.05), (54.55,-0.07), (60.30,-0.09)]\nOption D\n  waypoints xy: [(2.81,0.01), (5.32,0.02), (7.49,0.05), (9.30,0.07), (10.75,0.10), (11.86,0.12), (12.62,0.14), (13.08,0.15), (13.32,0.16), (13.46,0.17)]\nOption E\n  waypoints xy: [(4.64,-0.67), (9.12,-2.25), (13.31,-4.73), (17.22,-7.99), (20.95,-11.84), (24.40,-16.25), (27.48,-21.19), (30.07,-26.58), (32.10,-32.33), (33.54,-38.37)]\nOption F\n  waypoints xy: [(3.11,0.00), (6.21,0.00), (9.30,-0.01), (12.37,-0.03), (15.43,-0.06), (18.46,-0.09), (21.45,-0.12), (24.40,-0.15), (27.32,-0.18), (30.20,-0.21)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.095341601035349,"cv_gap":17.313}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"DakaU9t7iR","cam_id":"4_resize","sample_timestamps":["000000010811_000600000000","000000010812_000100000000","000000010812_000600000000","000000010813_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000010813_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"DakaU9t7iR","cam_id":"2","sample_timestamps":["000000010811_000600000000","000000010812_000100000000","000000010812_000600000000","000000010813_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000010813_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"DakaU9t7iR","cam_id":"7","sample_timestamps":["000000010811_000600000000","000000010812_000100000000","000000010812_000600000000","000000010813_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000010813_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 10.900 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"DakaU9t7iR"}},"extra_info":{"index":74,"token":"DakaU9t7iR","id":"DakaU9t7iR","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.23,0.00), (8.05,0.01), (11.39,0.01), (14.23,0.01), (16.60,0.02), (18.65,0.03), (20.73,0.05), (22.87,0.08), (24.97,0.10), (26.88,0.09)]\nOption B\n  waypoints xy: [(1.89,0.32), (3.89,1.04), (5.92,2.26), (7.82,4.05), (9.46,6.38), (10.84,9.11), (12.02,12.15), (12.98,15.48), (13.69,19.06), (14.16,22.84)]\nOption C\n  waypoints xy: [(5.44,0.01), (10.89,0.03), (16.34,0.08), (21.79,0.14), (27.24,0.21), (32.68,0.28), (38.11,0.36), (43.52,0.43), (48.90,0.50), (54.24,0.56)]\nOption D\n  waypoints xy: [(6.76,-0.01), (13.53,-0.04), (20.30,-0.07), (27.07,-0.11), (33.87,-0.15), (40.69,-0.17), (47.53,-0.18), (54.38,-0.20), (61.22,-0.20), (68.05,-0.19)]\nOption E\n  waypoints xy: [(6.96,-0.02), (13.91,-0.05), (20.86,-0.12), (27.77,-0.22), (34.65,-0.33), (41.48,-0.47), (48.28,-0.65), (55.04,-0.87), (61.77,-1.09), (68.48,-1.33)]\nOption F\n  waypoints xy: [(1.66,-0.46), (3.32,-1.40), (4.84,-2.84), (6.19,-4.75), (7.41,-7.07), (8.58,-9.77), (9.78,-12.77), (11.01,-16.02), (12.31,-19.47), (13.67,-23.08)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.900458705944443,"cv_gap":26.471}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-032/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-032/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-032/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.628 m/s at x-direction and -0.010 m/s at y-direction. The ego vehicle's current acceleration is -0.595 m/s^2 at x-direction and 0.010 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-032"}},"extra_info":{"index":75,"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-032","id":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-032","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.20,-0.01), (5.89,-0.03), (7.91,-0.06), (9.17,-0.08), (9.77,-0.10), (9.89,-0.10), (9.89,-0.10), (9.90,-0.10), (9.93,-0.10), (10.10,-0.10)]\nOption B\n  waypoints xy: [(4.34,-0.01), (8.79,-0.03), (13.35,-0.06), (17.98,-0.10), (22.67,-0.16), (27.42,-0.24), (32.20,-0.33), (37.00,-0.45), (41.79,-0.58), (46.55,-0.71)]\nOption C\n  waypoints xy: [(4.50,0.01), (9.11,0.03), (13.83,0.07), (18.63,0.14), (23.50,0.22), (28.41,0.33), (33.38,0.46), (38.38,0.61), (43.39,0.78), (48.39,0.96)]\nOption D\n  waypoints xy: [(6.43,-0.04), (12.85,-0.13), (19.25,-0.18), (25.64,-0.09), (32.00,0.20), (38.34,0.73), (44.56,1.54), (50.63,2.63), (56.45,3.98), (61.96,5.54)]\nOption E\n  waypoints xy: [(3.90,-0.00), (7.74,-0.01), (11.54,-0.01), (15.30,-0.03), (19.05,-0.04), (22.78,-0.06), (26.54,-0.09), (30.32,-0.12), (34.14,-0.14), (37.96,-0.17)]\nOption F\n  waypoints xy: [(6.03,-0.00), (12.19,-0.01), (18.46,-0.02), (24.86,-0.04), (31.36,-0.07), (37.96,-0.09), (44.62,-0.12), (51.30,-0.15), (58.01,-0.18), (64.77,-0.22)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.627641521746724,"cv_gap":28.438}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/eeb9339d93fe83a761887f07685ba50e-122/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/eeb9339d93fe83a761887f07685ba50e-122/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/eeb9339d93fe83a761887f07685ba50e-122/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.493 m/s at x-direction and -0.059 m/s at y-direction. The ego vehicle's current acceleration is -0.095 m/s^2 at x-direction and 0.383 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::eeb9339d93fe83a761887f07685ba50e-122"}},"extra_info":{"index":76,"token":"waymo_e2e::eeb9339d93fe83a761887f07685ba50e-122","id":"waymo_e2e::eeb9339d93fe83a761887f07685ba50e-122","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.17,0.00), (6.31,0.01), (9.39,0.02), (12.38,0.04), (15.28,0.06), (18.09,0.09), (20.81,0.12), (23.41,0.15), (25.90,0.19), (28.27,0.23)]\nOption B\n  waypoints xy: [(1.86,0.39), (3.79,1.28), (5.63,2.76), (7.22,4.83), (8.47,7.43), (9.41,10.47), (10.13,13.88), (10.71,17.59), (11.23,21.56), (11.74,25.72)]\nOption C\n  waypoints xy: [(6.76,0.01), (13.62,0.06), (20.58,0.10), (27.63,0.15), (34.77,0.21), (42.00,0.27), (49.29,0.32), (56.64,0.37), (64.03,0.42), (71.47,0.47)]\nOption D\n  waypoints xy: [(3.08,-0.03), (6.11,-0.10), (9.07,-0.22), (11.94,-0.42), (14.74,-0.68), (17.51,-0.99), (20.23,-1.31), (22.91,-1.62), (25.56,-1.91), (28.19,-2.16)]\nOption E\n  waypoints xy: [(6.56,0.01), (13.16,0.02), (19.80,0.07), (26.48,0.16), (33.19,0.31), (39.92,0.51), (46.64,0.75), (53.34,1.02), (60.03,1.28), (66.69,1.53)]\nOption F\n  waypoints xy: [(2.29,-0.00), (4.51,-0.01), (6.68,-0.02), (8.84,-0.05), (11.03,-0.08), (13.28,-0.12), (15.58,-0.17), (17.90,-0.23), (20.23,-0.29), (22.54,-0.34)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.493540099447644,"cv_gap":27.568}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/dfe61be00627270e1d3c63659b1634e7-059/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/dfe61be00627270e1d3c63659b1634e7-059/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/dfe61be00627270e1d3c63659b1634e7-059/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.938 m/s at x-direction and -0.034 m/s at y-direction. The ego vehicle's current acceleration is -0.455 m/s^2 at x-direction and -0.007 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::dfe61be00627270e1d3c63659b1634e7-059"}},"extra_info":{"index":77,"token":"waymo_e2e::dfe61be00627270e1d3c63659b1634e7-059","id":"waymo_e2e::dfe61be00627270e1d3c63659b1634e7-059","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption B\n  waypoints xy: [(4.61,-0.00), (9.26,-0.01), (13.93,-0.01), (18.62,-0.02), (23.30,-0.03), (27.94,-0.04), (32.52,-0.06), (37.02,-0.08), (41.43,-0.09), (45.72,-0.12)]\nOption C\n  waypoints xy: [(3.40,-0.01), (6.84,-0.02), (10.33,-0.04), (13.83,-0.06), (17.36,-0.07), (20.91,-0.07), (24.46,-0.06), (27.99,-0.05), (31.49,-0.04), (34.92,-0.03)]\nOption D\n  waypoints xy: [(4.70,-0.02), (9.48,-0.05), (14.30,-0.10), (19.18,-0.17), (24.11,-0.25), (29.06,-0.34), (34.04,-0.44), (39.04,-0.54), (44.04,-0.64), (49.00,-0.74)]\nOption E\n  waypoints xy: [(3.04,-0.01), (5.70,-0.02), (7.92,-0.03), (9.60,-0.04), (10.74,-0.05), (11.36,-0.05), (11.56,-0.05), (11.58,-0.05), (11.59,-0.05), (11.63,-0.06)]\nOption F\n  waypoints xy: [(7.84,-0.00), (15.71,0.00), (23.62,0.01), (31.55,0.02), (39.52,0.03), (47.49,0.06), (55.45,0.10), (63.40,0.14), (71.34,0.18), (79.23,0.21)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.938153606494448,"cv_gap":22.997}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"fKng4TWifD","cam_id":"4_resize","sample_timestamps":["000000000415_000400000000","000000000415_000900000000","000000000416_000400000000","000000000416_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000416_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"fKng4TWifD","cam_id":"2","sample_timestamps":["000000000415_000400000000","000000000415_000900000000","000000000416_000400000000","000000000416_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000416_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"fKng4TWifD","cam_id":"7","sample_timestamps":["000000000415_000400000000","000000000415_000900000000","000000000416_000400000000","000000000416_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000416_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn left with a constant speed**. The ego vehicle's current velocity is 7.300 m/s at x-direction and -0.600 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and 1.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"fKng4TWifD"}},"extra_info":{"index":78,"token":"fKng4TWifD","id":"fKng4TWifD","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.17,0.14), (6.02,0.48), (8.50,1.09), (10.46,1.92), (11.80,2.82), (12.66,3.60), (13.10,4.07), (13.24,4.22), (13.24,4.22), (13.24,4.22)]\nOption B\n  waypoints xy: [(4.15,0.23), (8.44,0.68), (12.92,1.29), (17.63,2.03), (22.55,2.91), (27.71,3.85), (33.09,4.84), (38.68,5.89), (44.43,7.01), (50.36,8.17)]\nOption C\n  waypoints xy: [(1.30,-0.13), (2.60,-0.49), (3.83,-1.12), (4.93,-2.01), (5.85,-3.15), (6.56,-4.51), (7.07,-6.03), (7.40,-7.67), (7.60,-9.41), (7.70,-11.23)]\nOption D\n  waypoints xy: [(3.72,-0.02), (7.45,-0.09), (11.16,-0.24), (14.82,-0.50), (18.43,-0.89), (22.01,-1.40), (25.60,-1.98), (29.19,-2.58), (32.80,-3.17), (36.41,-3.72)]\nOption E\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\nOption F\n  waypoints xy: [(5.63,0.00), (11.19,0.00), (16.66,0.01), (21.99,0.01), (27.16,0.00), (32.16,-0.01), (36.96,-0.02), (41.55,-0.02), (45.94,-0.02), (50.10,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.3246160308919945,"cv_gap":23.164}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"mz2o2DLBoD","cam_id":"4_resize","sample_timestamps":["000000000962_000300000000","000000000962_000800000000","000000000963_000300000000","000000000963_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000963_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"mz2o2DLBoD","cam_id":"2","sample_timestamps":["000000000962_000300000000","000000000962_000800000000","000000000963_000300000000","000000000963_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000963_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"mz2o2DLBoD","cam_id":"7","sample_timestamps":["000000000962_000300000000","000000000962_000800000000","000000000963_000300000000","000000000963_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000963_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.000 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"mz2o2DLBoD"}},"extra_info":{"index":79,"token":"mz2o2DLBoD","id":"mz2o2DLBoD","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.84,0.01), (1.54,0.02), (2.03,0.03), (2.35,0.03), (2.56,0.03), (2.71,0.04), (2.84,0.04), (2.95,0.04), (3.04,0.04), (3.13,0.04)]\nOption B\n  waypoints xy: [(3.76,0.10), (7.58,0.34), (11.45,0.71), (15.36,1.15), (19.27,1.67), (23.18,2.22), (27.08,2.79), (30.96,3.38), (34.80,3.96), (38.57,4.54)]\nOption C\n  waypoints xy: [(1.04,0.01), (2.06,0.03), (3.05,0.09), (4.03,0.16), (5.00,0.23), (5.95,0.32), (6.89,0.40), (7.84,0.49), (8.79,0.56), (9.70,0.64)]\nOption D\n  waypoints xy: [(4.64,0.00), (9.19,0.01), (13.62,0.02), (17.91,0.04), (22.05,0.07), (26.01,0.09), (29.74,0.11), (33.25,0.13), (36.50,0.16), (39.50,0.17)]\nOption E\n  waypoints xy: [(6.00,-0.01), (12.06,-0.04), (18.18,-0.08), (24.36,-0.12), (30.59,-0.17), (36.88,-0.22), (43.20,-0.25), (49.56,-0.26), (55.95,-0.27), (62.37,-0.26)]\nOption F\n  waypoints xy: [(3.92,0.00), (7.99,0.00), (12.19,-0.01), (16.50,-0.03), (20.89,-0.07), (25.37,-0.13), (29.90,-0.21), (34.48,-0.31), (39.11,-0.43), (43.76,-0.55)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.0024984394500787,"cv_gap":6.672}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/68a724de5d8c65882e1d2a1537231b10-053/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/68a724de5d8c65882e1d2a1537231b10-053/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/68a724de5d8c65882e1d2a1537231b10-053/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.307 m/s at x-direction and -0.016 m/s at y-direction. The ego vehicle's current acceleration is -0.507 m/s^2 at x-direction and -0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::68a724de5d8c65882e1d2a1537231b10-053"}},"extra_info":{"index":80,"token":"waymo_e2e::68a724de5d8c65882e1d2a1537231b10-053","id":"waymo_e2e::68a724de5d8c65882e1d2a1537231b10-053","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.40,0.00), (8.86,0.01), (13.36,0.00), (17.89,0.01), (22.44,0.01), (27.01,0.03), (31.58,0.06), (36.12,0.11), (40.63,0.15), (45.09,0.19)]\nOption B\n  waypoints xy: [(1.71,-0.01), (3.41,-0.02), (5.08,-0.03), (6.74,-0.05), (8.41,-0.08), (10.08,-0.10), (11.76,-0.13), (13.44,-0.15), (15.13,-0.17), (16.80,-0.18)]\nOption C\n  waypoints xy: [(3.49,-0.01), (6.95,-0.03), (10.37,-0.07), (13.71,-0.12), (16.93,-0.18), (20.05,-0.26), (23.04,-0.35), (25.93,-0.45), (28.73,-0.57), (31.42,-0.72)]\nOption D\n  waypoints xy: [(1.41,-0.00), (2.32,-0.01), (2.76,-0.01), (2.86,-0.01), (2.85,-0.01), (2.85,-0.01), (2.84,-0.01), (2.84,-0.01), (2.84,-0.01), (2.84,-0.01)]\nOption E\n  waypoints xy: [(9.14,0.00), (18.20,0.02), (27.08,0.04), (35.71,0.04), (44.04,0.04), (52.05,0.04), (59.75,0.06), (67.17,0.10), (74.37,0.16), (81.38,0.23)]\nOption F\n  waypoints xy: [(6.06,-0.02), (12.34,-0.07), (19.52,-0.17), (27.46,-0.30), (35.48,-0.42), (43.39,-0.50), (51.13,-0.58), (58.70,-0.66), (66.13,-0.73), (73.47,-0.84)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.3073748906194504,"cv_gap":13.691}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ZrmuIOeD88","cam_id":"4_resize","sample_timestamps":["000000001816_000300000000","000000001816_000800000000","000000001817_000300000000","000000001817_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001817_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ZrmuIOeD88","cam_id":"2","sample_timestamps":["000000001816_000300000000","000000001816_000800000000","000000001817_000300000000","000000001817_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001817_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ZrmuIOeD88","cam_id":"7","sample_timestamps":["000000001816_000300000000","000000001816_000800000000","000000001817_000300000000","000000001817_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001817_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.200 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"ZrmuIOeD88"}},"extra_info":{"index":81,"token":"ZrmuIOeD88","id":"ZrmuIOeD88","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.19,0.00), (2.12,0.01), (2.79,0.02), (3.21,0.03), (3.43,0.03), (3.50,0.04), (3.52,0.04), (3.52,0.04), (3.54,0.04), (3.61,0.04)]\nOption B\n  waypoints xy: [(3.53,0.00), (7.05,0.00), (10.57,0.00), (14.09,-0.00), (17.54,0.00), (20.76,0.02), (23.86,0.03), (27.15,0.10), (30.83,0.31), (34.97,0.71)]\nOption C\n  waypoints xy: [(4.12,-0.02), (8.35,-0.05), (12.68,-0.09), (17.08,-0.14), (21.54,-0.19), (26.02,-0.24), (30.52,-0.29), (35.01,-0.35), (39.44,-0.40), (43.80,-0.46)]\nOption D\n  waypoints xy: [(4.80,0.00), (9.65,0.02), (14.47,0.07), (19.26,0.14), (23.97,0.23), (28.50,0.33), (32.82,0.43), (37.04,0.52), (41.26,0.59), (45.53,0.64)]\nOption E\n  waypoints xy: [(1.70,-0.00), (3.41,0.02), (5.13,0.01), (6.86,0.01), (8.60,0.01), (10.35,0.01), (12.07,-0.01), (13.73,-0.04), (15.33,-0.05), (16.85,-0.08)]\nOption F\n  waypoints xy: [(2.70,-0.18), (5.63,-0.48), (8.80,-0.87), (12.18,-1.32), (15.76,-1.85), (19.52,-2.45), (23.42,-3.09), (27.44,-3.78), (31.56,-4.48), (35.74,-5.21)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4,"cv_gap":13.428}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"P3BArRv1mj","cam_id":"4_resize","sample_timestamps":["000000000344_000800000000","000000000345_000300000000","000000000345_000800000000","000000000346_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000346_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"P3BArRv1mj","cam_id":"2","sample_timestamps":["000000000344_000800000000","000000000345_000300000000","000000000345_000800000000","000000000346_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000346_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"P3BArRv1mj","cam_id":"7","sample_timestamps":["000000000344_000800000000","000000000345_000300000000","000000000345_000800000000","000000000346_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000346_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with a constant speed**. The ego vehicle's current velocity is 4.700 m/s at x-direction and -0.600 m/s at y-direction. The ego vehicle's current acceleration is -1.400 m/s^2 at x-direction and 0.600 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"P3BArRv1mj"}},"extra_info":{"index":82,"token":"P3BArRv1mj","id":"P3BArRv1mj","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.63,-0.05), (13.17,-0.19), (19.66,-0.41), (26.10,-0.71), (32.44,-1.06), (38.70,-1.42), (44.89,-1.77), (51.01,-2.05), (57.00,-2.20), (62.79,-2.23)]\nOption B\n  waypoints xy: [(8.37,0.02), (16.79,0.06), (25.25,0.10), (33.72,0.15), (42.21,0.20), (50.70,0.25), (59.21,0.30), (67.74,0.36), (76.30,0.44), (84.89,0.51)]\nOption C\n  waypoints xy: [(2.26,-0.11), (4.56,-0.33), (6.90,-0.67), (9.28,-1.10), (11.67,-1.57), (14.06,-2.05), (16.43,-2.50), (18.75,-2.91), (20.99,-3.29), (23.18,-3.63)]\nOption D\n  waypoints xy: [(1.47,0.32), (2.92,0.89), (4.25,1.73), (5.34,2.74), (6.14,3.80), (6.75,4.89), (7.21,5.98), (7.62,7.08), (8.01,8.25), (8.38,9.54)]\nOption E\n  waypoints xy: [(1.28,-0.21), (2.51,-0.68), (3.62,-1.38), (4.61,-2.28), (5.48,-3.33), (6.22,-4.48), (6.87,-5.70), (7.44,-6.96), (7.92,-8.26), (8.32,-9.59)]\nOption F\n  waypoints xy: [(1.14,-0.22), (2.49,-0.76), (3.88,-1.77), (5.11,-3.17), (5.94,-4.77), (6.40,-6.32), (6.66,-7.60), (6.85,-8.66), (7.02,-9.63), (7.19,-10.54)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.738143096192854,"cv_gap":18.873}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/6997fb3a7ebabcbac22d4a245178dfdc-064/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6997fb3a7ebabcbac22d4a245178dfdc-064/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6997fb3a7ebabcbac22d4a245178dfdc-064/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.108 m/s at x-direction and -0.030 m/s at y-direction. The ego vehicle's current acceleration is -0.411 m/s^2 at x-direction and -0.006 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::6997fb3a7ebabcbac22d4a245178dfdc-064"}},"extra_info":{"index":83,"token":"waymo_e2e::6997fb3a7ebabcbac22d4a245178dfdc-064","id":"waymo_e2e::6997fb3a7ebabcbac22d4a245178dfdc-064","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.69,-0.01), (5.06,-0.01), (7.06,-0.01), (8.57,-0.02), (9.56,-0.02), (10.04,-0.03), (10.18,-0.03), (10.18,-0.03), (10.22,-0.03), (10.45,-0.03)]\nOption B\n  waypoints xy: [(4.34,-0.00), (8.72,0.00), (13.14,-0.00), (17.59,-0.01), (22.08,-0.03), (26.61,-0.05), (31.16,-0.06), (35.72,-0.07), (40.28,-0.07), (44.83,-0.06)]\nOption C\n  waypoints xy: [(4.67,-0.03), (9.40,-0.09), (14.18,-0.18), (19.01,-0.32), (23.88,-0.48), (28.80,-0.68), (33.75,-0.91), (38.72,-1.16), (43.70,-1.43), (48.67,-1.73)]\nOption D\n  waypoints xy: [(4.29,0.00), (8.71,-0.05), (13.31,-0.10), (17.96,-0.15), (22.59,-0.20), (27.25,-0.14), (31.98,-0.04), (36.83,0.08), (41.81,0.25), (46.84,0.47)]\nOption E\n  waypoints xy: [(9.70,0.02), (19.38,0.08), (29.04,0.14), (38.69,0.23), (48.33,0.37), (58.00,0.54), (67.70,0.77), (77.45,1.02), (87.25,1.30), (97.11,1.58)]\nOption F\n  waypoints xy: [(3.11,0.00), (6.21,0.00), (9.30,-0.01), (12.37,-0.03), (15.43,-0.06), (18.46,-0.09), (21.45,-0.12), (24.40,-0.15), (27.32,-0.18), (30.20,-0.21)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.108104831850706,"cv_gap":20.134}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3b0ae1df17333ccb8dd1e9bd24825de9-155/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3b0ae1df17333ccb8dd1e9bd24825de9-155/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3b0ae1df17333ccb8dd1e9bd24825de9-155/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.418 m/s at x-direction and -0.010 m/s at y-direction. The ego vehicle's current acceleration is -0.280 m/s^2 at x-direction and -0.003 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3b0ae1df17333ccb8dd1e9bd24825de9-155"}},"extra_info":{"index":84,"token":"waymo_e2e::3b0ae1df17333ccb8dd1e9bd24825de9-155","id":"waymo_e2e::3b0ae1df17333ccb8dd1e9bd24825de9-155","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\nOption B\n  waypoints xy: [(13.90,-0.04), (27.95,-0.11), (42.13,-0.20), (56.39,-0.40), (70.65,-0.78), (84.92,-1.45), (99.26,-2.43), (113.65,-3.64), (128.08,-5.07), (142.51,-6.71)]\nOption C\n  waypoints xy: [(7.05,-0.01), (14.08,-0.02), (21.08,-0.02), (28.05,-0.02), (34.97,-0.01), (41.83,0.01), (48.63,0.02), (55.38,0.05), (62.06,0.08), (68.67,0.11)]\nOption D\n  waypoints xy: [(6.27,0.04), (12.62,0.16), (19.05,0.34), (25.55,0.58), (32.14,0.84), (38.80,1.11), (45.53,1.38), (52.32,1.65), (59.15,1.92), (66.02,2.18)]\nOption E\n  waypoints xy: [(4.19,-0.14), (8.75,-0.42), (13.69,-0.81), (18.98,-1.25), (24.57,-1.73), (30.40,-2.21), (36.43,-2.70), (42.62,-3.21), (48.94,-3.72), (55.37,-4.25)]\nOption F\n  waypoints xy: [(2.51,-0.01), (4.73,-0.03), (6.61,-0.04), (8.05,-0.06), (9.03,-0.07), (9.57,-0.07), (9.77,-0.08), (9.76,-0.08), (9.76,-0.08), (9.76,-0.08)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.4182662090717,"cv_gap":17.244}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/daa9e2fc5982ba1338d5ed99574b2ef0-029/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/daa9e2fc5982ba1338d5ed99574b2ef0-029/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/daa9e2fc5982ba1338d5ed99574b2ef0-029/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.211 m/s at x-direction and -0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.303 m/s^2 at x-direction and -0.013 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::daa9e2fc5982ba1338d5ed99574b2ef0-029"}},"extra_info":{"index":85,"token":"waymo_e2e::daa9e2fc5982ba1338d5ed99574b2ef0-029","id":"waymo_e2e::daa9e2fc5982ba1338d5ed99574b2ef0-029","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.94,-0.08), (15.92,-0.28), (23.91,-0.61), (31.88,-1.07), (39.83,-1.64), (47.75,-2.31), (55.62,-3.08), (63.45,-3.94), (71.24,-4.87), (79.01,-5.86)]\nOption B\n  waypoints xy: [(4.03,-0.04), (7.70,-0.12), (10.91,-0.24), (13.60,-0.37), (15.67,-0.48), (17.11,-0.57), (17.95,-0.62), (18.30,-0.65), (18.40,-0.66), (18.43,-0.66)]\nOption C\n  waypoints xy: [(1.17,-0.15), (2.45,-0.50), (3.80,-1.09), (5.17,-2.00), (6.52,-3.24), (7.77,-4.84), (8.90,-6.79), (9.89,-9.04), (10.78,-11.56), (11.59,-14.32)]\nOption D\n  waypoints xy: [(4.49,-0.01), (9.05,-0.03), (13.65,-0.04), (18.26,-0.06), (22.89,-0.08), (27.52,-0.09), (32.14,-0.11), (36.74,-0.12), (41.27,-0.12), (45.74,-0.11)]\nOption E\n  waypoints xy: [(1.91,-0.16), (3.82,-0.56), (5.63,-1.29), (7.20,-2.33), (8.42,-3.67), (9.33,-5.31), (9.95,-7.27), (10.35,-9.56), (10.60,-12.15), (10.77,-14.98)]\nOption F\n  waypoints xy: [(7.30,-0.01), (14.69,-0.03), (22.15,-0.04), (29.67,-0.04), (37.27,-0.03), (44.94,-0.01), (52.65,0.01), (60.39,0.01), (68.16,0.01), (75.94,0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.210510896202717,"cv_gap":28.165}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"EoaQaKG5kL","cam_id":"4_resize","sample_timestamps":["000000006047_000100000000","000000006047_000600000000","000000006048_000100000000","000000006048_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006048_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"EoaQaKG5kL","cam_id":"2","sample_timestamps":["000000006047_000100000000","000000006047_000600000000","000000006048_000100000000","000000006048_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006048_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"EoaQaKG5kL","cam_id":"7","sample_timestamps":["000000006047_000100000000","000000006047_000600000000","000000006048_000100000000","000000006048_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006048_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.100 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"EoaQaKG5kL"}},"extra_info":{"index":86,"token":"EoaQaKG5kL","id":"EoaQaKG5kL","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(11.63,-0.05), (23.37,-0.20), (35.24,-0.45), (47.22,-0.81), (59.27,-1.28), (71.39,-1.88), (83.56,-2.68), (95.78,-3.69), (108.05,-4.89), (120.36,-6.28)]\nOption B\n  waypoints xy: [(0.20,0.00), (0.22,0.00), (0.26,0.00), (0.29,0.00), (0.33,0.00), (0.35,0.00), (0.38,0.00), (0.41,0.00), (0.45,0.00), (0.48,0.00)]\nOption C\n  waypoints xy: [(3.50,0.01), (7.03,0.03), (10.60,0.07), (14.18,0.13), (17.80,0.21), (21.45,0.30), (25.14,0.41), (28.88,0.52), (32.61,0.62), (36.33,0.71)]\nOption D\n  waypoints xy: [(3.27,0.01), (6.56,0.03), (9.87,0.06), (13.17,0.08), (16.48,0.10), (19.80,0.11), (23.11,0.12), (26.39,0.12), (29.63,0.12), (32.85,0.11)]\nOption E\n  waypoints xy: [(3.30,-0.26), (6.59,-0.81), (9.83,-1.67), (13.03,-2.73), (16.20,-3.86), (19.36,-5.01), (22.56,-6.06), (25.80,-6.92), (29.09,-7.50), (32.42,-7.76)]\nOption F\n  waypoints xy: [(0.75,-0.00), (1.50,-0.01), (2.24,-0.01), (2.98,-0.02), (3.73,-0.02), (4.48,-0.03), (5.24,-0.05), (6.01,-0.06), (6.79,-0.08), (7.59,-0.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5,"cv_gap":7.069}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-197/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-197/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-197/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 7.751 m/s at x-direction and -0.219 m/s at y-direction. The ego vehicle's current acceleration is 0.291 m/s^2 at x-direction and 1.205 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-197"}},"extra_info":{"index":87,"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-197","id":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-197","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.85,-0.02), (7.72,-0.06), (11.63,-0.13), (15.55,-0.22), (19.49,-0.33), (23.42,-0.45), (27.32,-0.58), (31.18,-0.74), (34.98,-0.91), (38.73,-1.10)]\nOption B\n  waypoints xy: [(2.78,-0.02), (6.23,-0.05), (10.33,-0.08), (15.04,-0.11), (20.24,-0.13), (25.81,-0.13), (31.59,-0.10), (37.52,-0.04), (43.58,0.03), (49.74,0.12)]\nOption C\n  waypoints xy: [(3.12,0.75), (6.46,2.43), (9.75,5.12), (12.69,8.80), (15.56,13.07), (18.63,17.64), (21.90,22.44), (25.34,27.41), (28.92,32.46), (32.63,37.56)]\nOption D\n  waypoints xy: [(2.68,-0.26), (5.61,-0.77), (8.76,-1.50), (12.14,-2.39), (15.71,-3.42), (19.44,-4.56), (23.27,-5.77), (27.18,-7.05), (31.10,-8.38), (34.99,-9.75)]\nOption E\n  waypoints xy: [(4.81,0.01), (9.67,0.05), (14.58,0.10), (19.51,0.17), (24.48,0.23), (29.49,0.29), (34.52,0.34), (39.57,0.40), (44.65,0.45), (49.76,0.50)]\nOption F\n  waypoints xy: [(1.63,-0.00), (2.77,-0.00), (3.41,-0.01), (3.64,-0.01), (3.65,-0.01), (3.65,-0.01), (3.65,-0.01), (3.65,-0.01), (3.67,-0.01), (3.73,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.753594688849756,"cv_gap":46.748}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ylrrnt4UBP","cam_id":"4_resize","sample_timestamps":["000000005473_000500000000","000000005474_000000000000","000000005474_000500000000","000000005475_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005475_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ylrrnt4UBP","cam_id":"2","sample_timestamps":["000000005473_000500000000","000000005474_000000000000","000000005474_000500000000","000000005475_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005475_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ylrrnt4UBP","cam_id":"7","sample_timestamps":["000000005473_000500000000","000000005474_000000000000","000000005474_000500000000","000000005475_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005475_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"ylrrnt4UBP"}},"extra_info":{"index":88,"token":"ylrrnt4UBP","id":"ylrrnt4UBP","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.49,-0.00), (4.61,-0.00), (6.26,0.01), (7.43,0.01), (8.11,0.02), (8.39,0.02), (8.42,0.02), (8.42,0.02), (8.43,0.02), (8.51,0.02)]\nOption B\n  waypoints xy: [(2.94,0.00), (5.88,0.01), (8.81,0.03), (11.75,0.05), (14.71,0.08), (17.67,0.12), (20.65,0.16), (23.62,0.20), (26.59,0.24), (29.56,0.27)]\nOption C\n  waypoints xy: [(3.69,-0.05), (7.57,-0.15), (11.59,-0.29), (15.76,-0.43), (20.09,-0.56), (24.56,-0.61), (29.14,-0.56), (33.79,-0.43), (38.46,-0.22), (43.11,-0.01)]\nOption D\n  waypoints xy: [(3.79,-0.00), (7.79,0.00), (11.95,0.01), (16.24,0.03), (20.66,0.05), (25.18,0.07), (29.81,0.11), (34.55,0.16), (39.39,0.24), (44.30,0.34)]\nOption E\n  waypoints xy: [(4.56,0.05), (9.17,0.20), (13.81,0.45), (18.45,0.81), (23.08,1.26), (27.67,1.78), (32.20,2.33), (36.66,2.90), (41.02,3.46), (45.28,4.00)]\nOption F\n  waypoints xy: [(5.12,0.00), (10.29,0.01), (15.49,0.02), (20.71,-0.01), (25.94,-0.03), (31.16,-0.06), (36.35,-0.07), (41.58,-0.07), (46.85,-0.05), (52.17,-0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.9,"cv_gap":20.964}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-042/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-042/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-042/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 12.957 m/s at x-direction and 0.025 m/s at y-direction. The ego vehicle's current acceleration is -0.585 m/s^2 at x-direction and -0.069 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-042"}},"extra_info":{"index":89,"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-042","id":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-042","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.61,-0.01), (13.27,-0.03), (19.98,-0.05), (26.75,-0.08), (33.58,-0.11), (40.46,-0.15), (47.42,-0.19), (54.45,-0.24), (61.55,-0.28), (68.71,-0.32)]\nOption B\n  waypoints xy: [(6.41,0.00), (12.84,0.00), (19.29,0.01), (25.77,0.02), (32.27,0.04), (38.80,0.07), (45.33,0.09), (51.84,0.11), (58.33,0.11), (64.80,0.12)]\nOption C\n  waypoints xy: [(4.99,-0.01), (9.66,-0.03), (13.89,-0.06), (17.60,-0.10), (20.73,-0.14), (23.25,-0.17), (25.13,-0.20), (26.43,-0.22), (27.22,-0.24), (27.67,-0.24)]\nOption D\n  waypoints xy: [(1.59,0.36), (3.29,1.16), (4.94,2.49), (6.38,4.36), (7.49,6.71), (8.29,9.46), (8.89,12.53), (9.36,15.88), (9.79,19.48), (10.22,23.27)]\nOption E\n  waypoints xy: [(2.00,-0.38), (4.04,-1.15), (6.05,-2.36), (7.97,-4.00), (9.80,-6.03), (11.56,-8.40), (13.30,-11.06), (15.07,-13.96), (16.88,-17.09), (18.73,-20.37)]\nOption F\n  waypoints xy: [(1.59,-0.19), (3.38,-0.70), (5.17,-1.65), (6.84,-3.13), (8.27,-5.22), (9.59,-7.96), (10.94,-11.26), (12.37,-14.99), (13.87,-18.95), (15.41,-23.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":12.956996153547918,"cv_gap":39.133}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"rmrBjjyMCJ","cam_id":"4_resize","sample_timestamps":["000000002103_000600000000","000000002104_000100000000","000000002104_000600000000","000000002105_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002105_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"rmrBjjyMCJ","cam_id":"2","sample_timestamps":["000000002103_000600000000","000000002104_000100000000","000000002104_000600000000","000000002105_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002105_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"rmrBjjyMCJ","cam_id":"7","sample_timestamps":["000000002103_000600000000","000000002104_000100000000","000000002104_000600000000","000000002105_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002105_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.200 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"rmrBjjyMCJ"}},"extra_info":{"index":90,"token":"rmrBjjyMCJ","id":"rmrBjjyMCJ","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.65,-0.01), (11.28,-0.03), (16.92,-0.06), (22.55,-0.09), (28.18,-0.12), (33.81,-0.15), (39.43,-0.18), (45.04,-0.21), (50.61,-0.23), (56.12,-0.25)]\nOption B\n  waypoints xy: [(4.11,-0.00), (8.25,-0.01), (12.40,-0.02), (16.56,-0.02), (20.72,-0.03), (24.85,-0.04), (28.94,-0.06), (32.95,-0.07), (36.89,-0.08), (40.72,-0.10)]\nOption C\n  waypoints xy: [(1.94,0.00), (3.89,0.01), (5.87,0.02), (7.87,0.04), (9.87,0.04), (11.89,0.05), (13.92,0.05), (16.00,0.05), (18.11,0.04), (20.24,0.02)]\nOption D\n  waypoints xy: [(1.36,0.00), (2.28,-0.00), (2.75,-0.00), (2.87,-0.00), (2.87,-0.01), (2.87,-0.01), (2.86,-0.01), (2.86,-0.01), (2.86,-0.01), (2.88,-0.00)]\nOption E\n  waypoints xy: [(3.27,-0.00), (6.43,-0.03), (9.60,-0.07), (12.87,-0.10), (16.43,-0.10), (20.33,-0.10), (24.45,-0.06), (28.73,-0.01), (33.10,0.04), (37.59,0.08)]\nOption F\n  waypoints xy: [(6.50,-0.01), (13.01,-0.03), (19.55,-0.05), (26.10,-0.08), (32.67,-0.10), (39.25,-0.13), (45.83,-0.14), (52.40,-0.16), (58.92,-0.17), (65.38,-0.19)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.0,"cv_gap":17.039}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/322e6ff5a529b28488ea3a146913fbfb-218/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/322e6ff5a529b28488ea3a146913fbfb-218/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/322e6ff5a529b28488ea3a146913fbfb-218/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.735 m/s at x-direction and -0.014 m/s at y-direction. The ego vehicle's current acceleration is -0.279 m/s^2 at x-direction and 0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::322e6ff5a529b28488ea3a146913fbfb-218"}},"extra_info":{"index":91,"token":"waymo_e2e::322e6ff5a529b28488ea3a146913fbfb-218","id":"waymo_e2e::322e6ff5a529b28488ea3a146913fbfb-218","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.63,-0.00), (4.98,-0.01), (7.01,-0.01), (8.74,-0.02), (10.17,-0.03), (11.33,-0.04), (12.24,-0.05), (12.92,-0.06), (13.41,-0.06), (13.76,-0.06)]\nOption B\n  waypoints xy: [(10.10,0.02), (20.16,0.04), (30.21,0.09), (40.25,0.12), (50.30,0.16), (60.37,0.20), (70.47,0.27), (80.63,0.35), (90.88,0.45), (101.22,0.62)]\nOption C\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(2.81,0.01), (5.64,0.04), (8.49,0.05), (11.36,0.05), (14.25,0.05), (17.16,0.03), (20.08,0.02), (23.01,0.02), (25.90,0.05), (28.74,0.08)]\nOption F\n  waypoints xy: [(4.90,-0.00), (9.85,-0.00), (14.84,-0.00), (19.85,-0.01), (24.88,-0.01), (29.91,-0.02), (34.95,-0.03), (40.02,-0.04), (45.13,-0.05), (50.24,-0.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.734663625101548,"cv_gap":15.427}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/e693f1fc9bf84dd8ee5f769c68381c5f-198/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/e693f1fc9bf84dd8ee5f769c68381c5f-198/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/e693f1fc9bf84dd8ee5f769c68381c5f-198/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 3.635 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.251 m/s^2 at x-direction and 0.006 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::e693f1fc9bf84dd8ee5f769c68381c5f-198"}},"extra_info":{"index":92,"token":"waymo_e2e::e693f1fc9bf84dd8ee5f769c68381c5f-198","id":"waymo_e2e::e693f1fc9bf84dd8ee5f769c68381c5f-198","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.72,-0.02), (3.09,-0.04), (4.10,-0.06), (4.73,-0.08), (5.02,-0.09), (5.10,-0.09), (5.12,-0.09), (5.14,-0.09), (5.18,-0.09), (5.32,-0.10)]\nOption B\n  waypoints xy: [(3.54,-0.01), (7.21,-0.01), (10.99,-0.01), (14.90,-0.02), (18.91,-0.02), (23.01,-0.04), (27.13,-0.06), (31.22,-0.09), (35.24,-0.11), (39.18,-0.13)]\nOption C\n  waypoints xy: [(5.37,0.03), (10.59,0.12), (15.64,0.26), (20.48,0.45), (25.12,0.68), (29.54,0.94), (33.77,1.23), (37.79,1.57), (41.58,1.92), (45.10,2.29)]\nOption D\n  waypoints xy: [(6.99,-0.01), (13.98,-0.02), (20.98,-0.03), (27.99,-0.04), (35.01,-0.06), (42.06,-0.08), (49.13,-0.10), (56.20,-0.14), (63.28,-0.18), (70.34,-0.22)]\nOption E\n  waypoints xy: [(1.80,0.00), (3.61,0.02), (5.43,0.04), (7.24,0.04), (9.07,0.06), (10.90,0.10), (12.75,0.10), (14.61,0.12), (16.46,0.14), (18.27,0.17)]\nOption F\n  waypoints xy: [(5.42,0.07), (11.04,0.24), (16.86,0.54), (22.88,0.95), (29.07,1.46), (35.40,2.05), (41.83,2.66), (48.33,3.29), (54.88,3.95), (61.44,4.61)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.6352049173017287,"cv_gap":12.948}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/73f99122ae7a2b9dbd43529604284f70-100/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/73f99122ae7a2b9dbd43529604284f70-100/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/73f99122ae7a2b9dbd43529604284f70-100/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.728 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.365 m/s^2 at x-direction and 0.020 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::73f99122ae7a2b9dbd43529604284f70-100"}},"extra_info":{"index":93,"token":"waymo_e2e::73f99122ae7a2b9dbd43529604284f70-100","id":"waymo_e2e::73f99122ae7a2b9dbd43529604284f70-100","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.21,0.00), (10.35,0.03), (15.36,0.06), (20.19,0.10), (24.82,0.13), (29.14,0.15), (33.08,0.17), (36.76,0.21), (40.20,0.24), (43.41,0.25)]\nOption B\n  waypoints xy: [(4.82,-0.01), (9.65,-0.02), (14.48,-0.05), (19.32,-0.09), (24.19,-0.14), (29.07,-0.20), (33.98,-0.23), (38.91,-0.24), (43.86,-0.23), (48.82,-0.21)]\nOption C\n  waypoints xy: [(2.40,-0.00), (4.81,-0.01), (7.21,-0.01), (9.60,-0.01), (11.97,-0.02), (14.32,-0.03), (16.65,-0.04), (18.97,-0.05), (21.28,-0.07), (23.58,-0.09)]\nOption D\n  waypoints xy: [(2.04,-0.00), (3.86,-0.01), (5.44,-0.01), (6.79,-0.01), (7.90,-0.01), (8.78,-0.01), (9.41,-0.01), (9.83,-0.01), (10.10,-0.02), (10.32,-0.02)]\nOption E\n  waypoints xy: [(4.71,0.00), (9.45,0.01), (14.21,0.01), (18.98,0.02), (23.74,0.04), (28.50,0.05), (33.26,0.05), (38.03,0.05), (42.80,0.03), (47.57,0.01)]\nOption F\n  waypoints xy: [(4.68,-0.02), (9.31,-0.04), (13.85,-0.05), (18.27,-0.06), (22.60,-0.08), (26.94,-0.12), (31.26,-0.16), (35.57,-0.20), (39.83,-0.25), (44.11,-0.33)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.7284124846691,"cv_gap":13.092}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"8MmMHL5e4j","cam_id":"4_resize","sample_timestamps":["000000014931_000450000000","000000014931_000700000000","000000014931_000950000000","000000014932_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000014932_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8MmMHL5e4j","cam_id":"2","sample_timestamps":["000000014930_000700000000","000000014931_000200000000","000000014931_000700000000","000000014932_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000014932_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8MmMHL5e4j","cam_id":"7","sample_timestamps":["000000014930_000700000000","000000014931_000200000000","000000014931_000700000000","000000014932_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000014932_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 10.100 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.800 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"8MmMHL5e4j"}},"extra_info":{"index":94,"token":"8MmMHL5e4j","id":"8MmMHL5e4j","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.00,-0.00), (-0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00)]\nOption B\n  waypoints xy: [(4.10,-0.02), (7.99,-0.07), (11.63,-0.17), (14.98,-0.30), (17.99,-0.47), (20.62,-0.66), (22.81,-0.86), (24.57,-1.02), (25.93,-1.16), (26.91,-1.26)]\nOption C\n  waypoints xy: [(1.54,-0.21), (3.29,-0.74), (5.13,-1.73), (6.90,-3.28), (8.43,-5.45), (9.63,-8.20), (10.57,-11.46), (11.37,-15.17), (12.12,-19.27), (12.89,-23.70)]\nOption D\n  waypoints xy: [(1.99,0.36), (4.01,1.00), (6.10,1.87), (8.31,2.93), (10.65,4.15), (13.13,5.52), (15.75,6.99), (18.48,8.54), (21.31,10.15), (24.23,11.82)]\nOption E\n  waypoints xy: [(5.08,0.02), (10.16,0.06), (15.22,0.11), (20.28,0.17), (25.35,0.23), (30.43,0.29), (35.51,0.36), (40.60,0.43), (45.68,0.50), (50.76,0.57)]\nOption F\n  waypoints xy: [(0.10,0.00), (0.10,0.01), (0.10,0.01), (0.10,0.01), (0.10,0.01), (0.10,0.01), (0.10,0.01), (0.10,0.01), (0.10,0.01), (0.10,0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.100495037373168,"cv_gap":23.688}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3eb8d4b12eaaac3feccb36e4f6287d7f-214/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3eb8d4b12eaaac3feccb36e4f6287d7f-214/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3eb8d4b12eaaac3feccb36e4f6287d7f-214/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.590 m/s at x-direction and 0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.045 m/s^2 at x-direction and -0.011 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3eb8d4b12eaaac3feccb36e4f6287d7f-214"}},"extra_info":{"index":95,"token":"waymo_e2e::3eb8d4b12eaaac3feccb36e4f6287d7f-214","id":"waymo_e2e::3eb8d4b12eaaac3feccb36e4f6287d7f-214","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.54,-0.01), (15.06,-0.01), (22.55,-0.02), (29.98,-0.01), (37.38,-0.01), (44.75,-0.00), (52.12,0.01), (59.48,0.02), (66.84,0.05), (74.20,0.09)]\nOption B\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption C\n  waypoints xy: [(6.74,0.00), (13.45,0.02), (20.15,0.05), (26.85,0.09), (33.56,0.13), (40.26,0.17), (46.98,0.21), (53.70,0.25), (60.43,0.30), (67.19,0.36)]\nOption D\n  waypoints xy: [(2.70,0.01), (5.12,0.02), (7.24,0.04), (9.06,0.06), (10.57,0.08), (11.79,0.09), (12.76,0.11), (13.52,0.12), (14.11,0.14), (14.58,0.16)]\nOption E\n  waypoints xy: [(2.83,-0.01), (5.64,-0.02), (8.43,-0.04), (11.23,-0.06), (14.05,-0.07), (16.87,-0.08), (19.69,-0.08), (22.51,-0.10), (25.33,-0.11), (28.14,-0.14)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.589506084811002,"cv_gap":12.778}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"4jB15YNpG0","cam_id":"4_resize","sample_timestamps":["000000002104_000200000000","000000002104_000700000000","000000002105_000200000000","000000002105_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002105_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4jB15YNpG0","cam_id":"2","sample_timestamps":["000000002104_000200000000","000000002104_000700000000","000000002105_000200000000","000000002105_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002105_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4jB15YNpG0","cam_id":"7","sample_timestamps":["000000002104_000200000000","000000002104_000700000000","000000002105_000200000000","000000002105_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002105_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 6.300 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"4jB15YNpG0"}},"extra_info":{"index":96,"token":"4jB15YNpG0","id":"4jB15YNpG0","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(12.62,-0.07), (25.27,-0.30), (37.96,-0.70), (50.64,-1.28), (63.31,-2.04), (75.94,-2.99), (88.52,-4.10), (101.08,-5.38), (113.63,-6.83), (126.18,-8.45)]\nOption B\n  waypoints xy: [(4.78,-0.07), (9.56,-0.24), (14.32,-0.46), (19.03,-0.73), (23.69,-1.01), (28.26,-1.28), (32.72,-1.54), (37.05,-1.79), (41.22,-2.03), (45.22,-2.25)]\nOption C\n  waypoints xy: [(6.47,0.00), (12.90,0.01), (19.27,0.02), (25.59,0.02), (31.85,0.04), (38.05,0.06), (44.19,0.09), (50.27,0.12), (56.29,0.15), (62.24,0.21)]\nOption D\n  waypoints xy: [(3.02,0.01), (6.09,0.04), (9.22,0.09), (12.37,0.15), (15.54,0.22), (18.70,0.29), (21.87,0.36), (25.03,0.43), (28.17,0.49), (31.29,0.54)]\nOption E\n  waypoints xy: [(2.49,-0.00), (4.61,-0.00), (6.26,0.01), (7.43,0.01), (8.11,0.02), (8.39,0.02), (8.42,0.02), (8.42,0.02), (8.43,0.02), (8.51,0.02)]\nOption F\n  waypoints xy: [(10.05,-0.07), (20.07,-0.21), (30.07,-0.43), (40.03,-0.72), (49.95,-1.05), (59.81,-1.42), (69.64,-1.83), (79.43,-2.27), (89.22,-2.75), (98.99,-3.25)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.300793600809345,"cv_gap":23.004}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"EzvHo0A9tU","cam_id":"4_resize","sample_timestamps":["000000009736_000100000000","000000009736_000600000000","000000009737_000100000000","000000009737_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009737_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"EzvHo0A9tU","cam_id":"2","sample_timestamps":["000000009736_000100000000","000000009736_000600000000","000000009737_000100000000","000000009737_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009737_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"EzvHo0A9tU","cam_id":"7","sample_timestamps":["000000009736_000100000000","000000009736_000600000000","000000009737_000100000000","000000009737_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009737_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.600 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and 0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"EzvHo0A9tU"}},"extra_info":{"index":97,"token":"EzvHo0A9tU","id":"EzvHo0A9tU","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.42,0.04), (8.78,0.13), (13.03,0.26), (17.16,0.45), (21.16,0.67), (25.01,0.93), (28.74,1.23), (32.33,1.57), (35.77,1.95), (39.06,2.37)]\nOption B\n  waypoints xy: [(1.73,0.00), (3.25,0.01), (4.55,0.02), (5.62,0.02), (6.46,0.03), (7.07,0.03), (7.48,0.03), (7.72,0.03), (7.89,0.04), (8.03,0.04)]\nOption C\n  waypoints xy: [(4.00,-0.02), (7.99,-0.09), (11.96,-0.19), (15.92,-0.33), (19.87,-0.51), (23.83,-0.74), (27.80,-1.02), (31.78,-1.36), (35.76,-1.75), (39.74,-2.17)]\nOption D\n  waypoints xy: [(3.94,0.00), (8.11,0.01), (12.51,0.02), (17.11,0.04), (21.89,0.04), (26.84,0.05), (31.92,0.04), (37.09,0.03), (42.35,0.02), (47.66,0.00)]\nOption E\n  waypoints xy: [(11.71,0.04), (23.40,0.15), (35.04,0.33), (46.64,0.58), (58.21,0.87), (69.78,1.20), (81.35,1.54), (92.90,1.88), (104.42,2.23), (115.92,2.58)]\nOption F\n  waypoints xy: [(2.26,0.00), (4.52,0.02), (6.79,0.03), (9.10,0.05), (11.44,0.06), (13.80,0.07), (16.20,0.09), (18.63,0.11), (21.05,0.12), (23.42,0.13)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.601086828130936,"cv_gap":14.882}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/8a9a879d8cdf3ffe9f7e9aa2b8b57db5-103/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/8a9a879d8cdf3ffe9f7e9aa2b8b57db5-103/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/8a9a879d8cdf3ffe9f7e9aa2b8b57db5-103/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.951 m/s at x-direction and -0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.453 m/s^2 at x-direction and 0.062 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::8a9a879d8cdf3ffe9f7e9aa2b8b57db5-103"}},"extra_info":{"index":98,"token":"waymo_e2e::8a9a879d8cdf3ffe9f7e9aa2b8b57db5-103","id":"waymo_e2e::8a9a879d8cdf3ffe9f7e9aa2b8b57db5-103","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(9.41,0.01), (18.84,0.03), (28.28,0.04), (37.72,0.06), (47.17,0.07), (56.64,0.07), (66.12,0.05), (75.61,0.01), (85.10,-0.05), (94.61,-0.12)]\nOption B\n  waypoints xy: [(4.27,0.00), (8.56,0.02), (12.87,0.05), (17.20,0.10), (21.53,0.16), (25.86,0.21), (30.19,0.26), (34.53,0.30), (38.86,0.34), (43.19,0.39)]\nOption C\n  waypoints xy: [(5.12,-0.01), (10.28,-0.05), (15.47,-0.08), (20.68,-0.12), (25.91,-0.17), (31.18,-0.17), (36.46,-0.12), (41.76,-0.03), (47.10,0.05), (52.44,0.12)]\nOption D\n  waypoints xy: [(2.70,0.00), (5.01,0.00), (6.82,0.00), (8.09,-0.00), (8.90,-0.00), (9.29,-0.01), (9.39,-0.01), (9.38,-0.01), (9.38,-0.01), (9.41,-0.01)]\nOption E\n  waypoints xy: [(6.13,-0.03), (12.22,-0.07), (18.22,-0.12), (24.15,-0.16), (30.01,-0.20), (35.80,-0.23), (41.52,-0.26), (47.18,-0.28), (52.80,-0.30), (58.40,-0.33)]\nOption F\n  waypoints xy: [(2.99,-0.01), (5.99,-0.02), (9.00,-0.03), (12.03,-0.05), (15.04,-0.07), (18.01,-0.09), (20.97,-0.12), (23.93,-0.16), (26.88,-0.20), (29.80,-0.23)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.951464223732701,"cv_gap":20.352}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"AteckxAx7i","cam_id":"4_resize","sample_timestamps":["000000003912_000450000000","000000003912_000700000000","000000003912_000950000000","000000003913_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003913_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"AteckxAx7i","cam_id":"2","sample_timestamps":["000000003911_000700000000","000000003912_000200000000","000000003912_000700000000","000000003913_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003913_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"AteckxAx7i","cam_id":"7","sample_timestamps":["000000003911_000700000000","000000003912_000200000000","000000003912_000700000000","000000003913_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003913_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.200 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"AteckxAx7i"}},"extra_info":{"index":99,"token":"AteckxAx7i","id":"AteckxAx7i","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.30,0.10), (8.47,0.35), (12.51,0.68), (16.38,1.04), (20.06,1.34), (23.55,1.50), (26.90,1.58), (30.10,1.58), (33.03,1.51), (35.70,1.44)]\nOption B\n  waypoints xy: [(6.80,0.00), (13.58,0.02), (20.33,0.04), (27.03,0.07), (33.65,0.10), (40.21,0.14), (46.70,0.17), (53.15,0.21), (59.54,0.24), (65.87,0.27)]\nOption C\n  waypoints xy: [(0.88,-0.00), (1.75,-0.01), (2.57,-0.01), (3.24,-0.02), (3.69,-0.02), (3.92,-0.02), (4.00,-0.02), (4.01,-0.02), (4.02,-0.02), (4.05,-0.03)]\nOption D\n  waypoints xy: [(2.94,-0.19), (6.26,-0.48), (9.95,-0.80), (13.88,-1.15), (17.83,-1.49), (21.70,-1.81), (25.49,-2.11), (29.18,-2.40), (32.77,-2.68), (36.26,-2.95)]\nOption E\n  waypoints xy: [(1.14,0.00), (2.25,-0.01), (3.34,-0.01), (4.40,-0.02), (5.48,-0.01), (6.59,0.00), (7.70,0.03), (8.78,0.04), (9.83,0.06), (10.86,0.08)]\nOption F\n  waypoints xy: [(4.19,0.06), (8.29,0.27), (12.26,0.67), (16.12,1.34), (19.86,2.32), (23.47,3.59), (26.97,5.16), (30.34,7.00), (33.56,9.04), (36.61,11.23)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.2,"cv_gap":6.888}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"wx0skVFAUF","cam_id":"4_resize","sample_timestamps":["000000000175_000100000000","000000000175_000600000000","000000000176_000100000000","000000000176_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000176_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"wx0skVFAUF","cam_id":"2","sample_timestamps":["000000000175_000100000000","000000000175_000600000000","000000000176_000100000000","000000000176_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000176_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"wx0skVFAUF","cam_id":"7","sample_timestamps":["000000000175_000100000000","000000000175_000600000000","000000000176_000100000000","000000000176_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000176_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 6.500 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.900 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"wx0skVFAUF"}},"extra_info":{"index":100,"token":"wx0skVFAUF","id":"wx0skVFAUF","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.64,-0.01), (9.27,-0.01), (13.89,-0.00), (18.49,0.02), (23.01,0.06), (27.40,0.10), (31.63,0.14), (35.64,0.17), (39.35,0.17), (42.67,0.11)]\nOption B\n  waypoints xy: [(6.43,-0.04), (12.85,-0.13), (19.25,-0.18), (25.64,-0.09), (32.00,0.20), (38.34,0.73), (44.56,1.54), (50.63,2.63), (56.45,3.98), (61.96,5.54)]\nOption C\n  waypoints xy: [(6.26,0.01), (12.57,0.06), (18.88,0.14), (25.18,0.28), (31.44,0.47), (37.68,0.73), (43.88,1.02), (50.04,1.34), (56.16,1.68), (62.21,2.02)]\nOption D\n  waypoints xy: [(13.47,0.01), (26.90,0.08), (40.28,0.22), (53.61,0.38), (66.87,0.51), (80.05,0.60), (93.09,0.66), (105.89,0.69), (118.40,0.67), (130.63,0.63)]\nOption E\n  waypoints xy: [(3.32,0.00), (6.60,0.00), (9.86,0.01), (13.11,0.03), (16.34,0.06), (19.57,0.09), (22.79,0.13), (25.98,0.17), (29.15,0.21), (32.29,0.26)]\nOption F\n  waypoints xy: [(1.67,0.11), (3.26,0.32), (4.75,0.62), (6.14,0.98), (7.42,1.39), (8.61,1.83), (9.71,2.31), (10.74,2.82), (11.71,3.37), (12.62,3.96)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.500769185258003,"cv_gap":21.881}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"7UtIe1qXgD","cam_id":"4_resize","sample_timestamps":["001748977060_000300000000","001748977060_000800000000","001748977061_000300000000","001748977061_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001748977061_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7UtIe1qXgD","cam_id":"2","sample_timestamps":["001748977060_000300000000","001748977060_000800000000","001748977061_000300000000","001748977061_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001748977061_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7UtIe1qXgD","cam_id":"7","sample_timestamps":["001748977060_000300000000","001748977060_000800000000","001748977061_000300000000","001748977061_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001748977061_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.100 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.600 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"7UtIe1qXgD"}},"extra_info":{"index":101,"token":"7UtIe1qXgD","id":"7UtIe1qXgD","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.06,-0.00), (2.11,-0.00), (3.15,-0.01), (4.20,-0.01), (5.26,-0.01), (6.31,-0.00), (7.36,0.01), (8.42,0.02), (9.47,0.03), (10.52,0.04)]\nOption B\n  waypoints xy: [(3.67,0.01), (7.37,0.03), (11.05,0.08), (14.71,0.15), (18.36,0.25), (22.02,0.37), (25.70,0.49), (29.36,0.62), (33.01,0.73), (36.63,0.82)]\nOption C\n  waypoints xy: [(4.03,-0.02), (8.14,-0.10), (11.90,-0.24), (15.16,-0.37), (18.14,-0.49), (21.38,-0.56), (25.05,-0.60), (29.09,-0.68), (33.41,-0.79), (37.93,-0.90)]\nOption D\n  waypoints xy: [(5.41,0.06), (10.87,0.19), (16.37,0.34), (21.92,0.47), (27.53,0.58), (33.17,0.68), (38.86,0.81), (44.50,0.94), (50.13,1.08), (55.77,1.24)]\nOption E\n  waypoints xy: [(0.47,0.00), (0.77,0.01), (0.92,0.01), (0.96,0.01), (0.97,0.01), (0.97,0.01), (0.98,0.01), (0.98,0.01), (0.99,0.01), (1.02,0.01)]\nOption F\n  waypoints xy: [(4.79,-0.01), (9.60,-0.03), (14.40,-0.06), (19.19,-0.09), (23.95,-0.13), (28.69,-0.17), (33.43,-0.21), (38.19,-0.25), (42.95,-0.29), (47.74,-0.32)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.1,"cv_gap":9.45}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/9a818b63958bbef08e689be17b9467e4-159/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/9a818b63958bbef08e689be17b9467e4-159/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/9a818b63958bbef08e689be17b9467e4-159/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.565 m/s at x-direction and 0.014 m/s at y-direction. The ego vehicle's current acceleration is -0.221 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::9a818b63958bbef08e689be17b9467e4-159"}},"extra_info":{"index":102,"token":"waymo_e2e::9a818b63958bbef08e689be17b9467e4-159","id":"waymo_e2e::9a818b63958bbef08e689be17b9467e4-159","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.51,-0.01), (4.73,-0.03), (6.61,-0.04), (8.05,-0.06), (9.03,-0.07), (9.57,-0.07), (9.77,-0.08), (9.76,-0.08), (9.76,-0.08), (9.76,-0.08)]\nOption B\n  waypoints xy: [(2.80,0.00), (5.45,0.01), (8.20,0.01), (10.97,0.02), (13.74,0.03), (16.53,0.05), (19.34,0.06), (22.15,0.08), (24.98,0.10), (27.82,0.13)]\nOption C\n  waypoints xy: [(6.47,0.00), (12.90,0.01), (19.27,0.02), (25.59,0.02), (31.85,0.04), (38.05,0.06), (44.19,0.09), (50.27,0.12), (56.29,0.15), (62.24,0.21)]\nOption D\n  waypoints xy: [(5.11,0.10), (10.11,0.36), (14.97,0.78), (19.66,1.32), (24.20,1.98), (28.61,2.77), (32.93,3.66), (37.18,4.61), (41.39,5.58), (45.59,6.57)]\nOption E\n  waypoints xy: [(8.08,0.03), (16.16,0.10), (24.24,0.19), (32.31,0.31), (40.36,0.45), (48.40,0.61), (56.41,0.78), (64.40,0.95), (72.38,1.12), (80.35,1.30)]\nOption F\n  waypoints xy: [(3.89,0.00), (7.93,0.01), (12.12,0.03), (16.43,0.05), (20.86,0.07), (25.39,0.10), (30.02,0.14), (34.73,0.18), (39.48,0.23), (44.26,0.28)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.565377848676052,"cv_gap":17.939}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3dc25ced8a65ab9eb2f87a2c79a33017-099/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3dc25ced8a65ab9eb2f87a2c79a33017-099/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3dc25ced8a65ab9eb2f87a2c79a33017-099/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.456 m/s at x-direction and 0.005 m/s at y-direction. The ego vehicle's current acceleration is -0.447 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3dc25ced8a65ab9eb2f87a2c79a33017-099"}},"extra_info":{"index":103,"token":"waymo_e2e::3dc25ced8a65ab9eb2f87a2c79a33017-099","id":"waymo_e2e::3dc25ced8a65ab9eb2f87a2c79a33017-099","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.77,-0.01), (5.15,-0.02), (7.12,-0.03), (8.68,-0.03), (9.92,-0.03), (10.89,-0.03), (11.63,-0.03), (12.10,-0.03), (12.23,-0.03), (12.23,-0.03)]\nOption B\n  waypoints xy: [(3.32,0.00), (6.60,0.00), (9.86,0.01), (13.11,0.03), (16.34,0.06), (19.57,0.09), (22.79,0.13), (25.98,0.17), (29.15,0.21), (32.29,0.26)]\nOption C\n  waypoints xy: [(6.47,0.00), (12.90,0.01), (19.27,0.02), (25.59,0.02), (31.85,0.04), (38.05,0.06), (44.19,0.09), (50.27,0.12), (56.29,0.15), (62.24,0.21)]\nOption D\n  waypoints xy: [(4.72,0.02), (9.46,0.09), (14.20,0.17), (18.92,0.23), (23.60,0.28), (28.21,0.30), (32.71,0.32), (37.13,0.35), (41.48,0.41), (45.75,0.50)]\nOption E\n  waypoints xy: [(4.86,0.00), (9.72,0.02), (14.57,0.04), (19.41,0.06), (24.24,0.09), (29.07,0.13), (33.88,0.16), (38.68,0.19), (43.47,0.22), (48.27,0.24)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.456135816924404,"cv_gap":19.855}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3d12536e408a8f2d349d47e5d0f45ddb-218/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3d12536e408a8f2d349d47e5d0f45ddb-218/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3d12536e408a8f2d349d47e5d0f45ddb-218/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.873 m/s at x-direction and -0.028 m/s at y-direction. The ego vehicle's current acceleration is -0.304 m/s^2 at x-direction and -0.008 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3d12536e408a8f2d349d47e5d0f45ddb-218"}},"extra_info":{"index":104,"token":"waymo_e2e::3d12536e408a8f2d349d47e5d0f45ddb-218","id":"waymo_e2e::3d12536e408a8f2d349d47e5d0f45ddb-218","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.79,-0.00), (9.46,-0.02), (13.97,-0.05), (18.35,-0.08), (22.61,-0.11), (26.77,-0.14), (30.82,-0.19), (34.76,-0.24), (38.59,-0.30), (42.21,-0.37)]\nOption B\n  waypoints xy: [(2.91,-0.00), (5.80,-0.01), (8.70,-0.01), (11.62,-0.01), (14.56,-0.00), (17.52,-0.00), (20.49,0.00), (23.44,0.01), (26.37,0.02), (29.28,0.02)]\nOption C\n  waypoints xy: [(2.89,-0.01), (5.40,-0.01), (7.44,-0.02), (8.98,-0.02), (10.01,-0.02), (10.58,-0.03), (10.77,-0.03), (10.80,-0.03), (10.81,-0.03), (10.87,-0.03)]\nOption D\n  waypoints xy: [(4.13,-0.00), (8.39,-0.01), (12.80,-0.03), (17.34,-0.06), (21.97,-0.10), (26.66,-0.14), (31.41,-0.19), (36.20,-0.23), (41.03,-0.28), (45.90,-0.35)]\nOption E\n  waypoints xy: [(4.89,0.01), (9.97,0.03), (15.23,0.06), (20.64,0.10), (26.18,0.15), (31.82,0.20), (37.56,0.26), (43.37,0.32), (49.21,0.39), (55.08,0.47)]\nOption F\n  waypoints xy: [(7.24,0.00), (14.56,0.08), (21.95,0.16), (29.39,0.32), (36.88,0.66), (44.43,1.08), (51.99,1.59), (59.54,2.18), (67.07,2.85), (74.58,3.60)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.873314252535641,"cv_gap":18.43}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/c38a7529c4422d96f2239b3f415b46c0-107/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c38a7529c4422d96f2239b3f415b46c0-107/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c38a7529c4422d96f2239b3f415b46c0-107/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.342 m/s at x-direction and -0.014 m/s at y-direction. The ego vehicle's current acceleration is -0.085 m/s^2 at x-direction and 0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c38a7529c4422d96f2239b3f415b46c0-107"}},"extra_info":{"index":105,"token":"waymo_e2e::c38a7529c4422d96f2239b3f415b46c0-107","id":"waymo_e2e::c38a7529c4422d96f2239b3f415b46c0-107","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.25,-0.01), (4.24,-0.01), (5.97,-0.01), (7.43,-0.01), (8.59,-0.01), (9.45,-0.00), (10.03,-0.00), (10.36,-0.00), (10.53,0.00), (10.63,0.00)]\nOption B\n  waypoints xy: [(5.03,-0.02), (10.07,-0.06), (15.10,-0.13), (20.10,-0.20), (25.02,-0.28), (29.85,-0.36), (34.57,-0.45), (39.17,-0.56), (43.64,-0.71), (47.99,-0.91)]\nOption C\n  waypoints xy: [(5.07,-0.01), (10.00,-0.01), (14.74,-0.02), (19.21,-0.03), (23.31,-0.04), (26.98,-0.07), (30.17,-0.09), (32.88,-0.13), (35.14,-0.17), (36.94,-0.22)]\nOption D\n  waypoints xy: [(2.17,-0.02), (4.34,-0.04), (6.53,-0.08), (8.74,-0.11), (10.94,-0.14), (13.13,-0.15), (15.28,-0.15), (17.41,-0.13), (19.53,-0.10), (21.61,-0.05)]\nOption E\n  waypoints xy: [(6.54,-0.01), (13.02,-0.01), (19.44,-0.03), (25.78,-0.04), (32.02,-0.05), (38.13,-0.06), (44.09,-0.05), (49.92,-0.04), (55.62,-0.02), (61.22,0.01)]\nOption F\n  waypoints xy: [(6.43,-0.03), (12.88,-0.10), (19.33,-0.20), (25.77,-0.34), (32.20,-0.52), (38.61,-0.72), (45.02,-0.94), (51.41,-1.17), (57.79,-1.40), (64.13,-1.64)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.341797843203845,"cv_gap":11.166}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/2052ea465cf9717bd1bb97b2f03c6e3c-092/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2052ea465cf9717bd1bb97b2f03c6e3c-092/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2052ea465cf9717bd1bb97b2f03c6e3c-092/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.897 m/s at x-direction and 0.011 m/s at y-direction. The ego vehicle's current acceleration is -0.354 m/s^2 at x-direction and 0.008 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2052ea465cf9717bd1bb97b2f03c6e3c-092"}},"extra_info":{"index":106,"token":"waymo_e2e::2052ea465cf9717bd1bb97b2f03c6e3c-092","id":"waymo_e2e::2052ea465cf9717bd1bb97b2f03c6e3c-092","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.41,-0.01), (6.82,-0.01), (10.22,-0.00), (13.62,0.01), (17.06,0.03), (20.53,0.05), (24.04,0.05), (27.59,0.04), (31.16,0.03), (34.71,0.01)]\nOption B\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption C\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\nOption D\n  waypoints xy: [(4.33,-0.02), (9.03,-0.03), (14.08,-0.05), (19.41,-0.05), (24.95,-0.01), (30.63,0.01), (36.42,0.02), (42.28,0.02), (48.22,0.01), (54.23,-0.01)]\nOption E\n  waypoints xy: [(6.19,-0.00), (12.60,0.01), (19.21,0.03), (26.01,0.06), (32.97,0.09), (40.08,0.12), (47.32,0.14), (54.63,0.16), (62.01,0.17), (69.43,0.18)]\nOption F\n  waypoints xy: [(3.39,-0.01), (6.39,-0.02), (8.96,-0.02), (11.01,-0.02), (12.51,-0.01), (13.49,-0.00), (13.99,0.00), (14.15,0.00), (14.18,0.00), (14.21,0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.897186206229242,"cv_gap":20.181}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/34dfe1703f153b71e3472c1b81ad9017-043/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/34dfe1703f153b71e3472c1b81ad9017-043/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/34dfe1703f153b71e3472c1b81ad9017-043/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.925 m/s at x-direction and 0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.424 m/s^2 at x-direction and 0.009 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::34dfe1703f153b71e3472c1b81ad9017-043"}},"extra_info":{"index":107,"token":"waymo_e2e::34dfe1703f153b71e3472c1b81ad9017-043","id":"waymo_e2e::34dfe1703f153b71e3472c1b81ad9017-043","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.26,-0.03), (8.53,-0.12), (12.79,-0.31), (17.05,-0.62), (21.31,-1.04), (25.57,-1.56), (29.83,-2.13), (34.10,-2.73), (38.38,-3.36), (42.66,-3.99)]\nOption B\n  waypoints xy: [(2.64,-0.01), (4.92,-0.01), (6.77,-0.02), (8.15,-0.03), (9.07,-0.03), (9.54,-0.04), (9.68,-0.04), (9.69,-0.04), (9.71,-0.04), (9.78,-0.04)]\nOption C\n  waypoints xy: [(6.81,-0.01), (13.54,-0.05), (20.16,-0.12), (26.64,-0.21), (32.96,-0.35), (39.11,-0.51), (45.11,-0.68), (50.95,-0.88), (56.66,-1.07), (62.27,-1.26)]\nOption D\n  waypoints xy: [(5.22,-0.01), (10.43,-0.02), (15.63,-0.04), (20.79,-0.06), (25.93,-0.09), (31.01,-0.12), (36.02,-0.16), (40.89,-0.20), (45.63,-0.24), (50.24,-0.28)]\nOption E\n  waypoints xy: [(2.94,0.00), (5.88,0.01), (8.81,0.03), (11.75,0.05), (14.71,0.08), (17.67,0.12), (20.65,0.16), (23.62,0.20), (26.59,0.24), (29.56,0.27)]\nOption F\n  waypoints xy: [(8.44,0.06), (16.91,0.13), (25.40,0.22), (33.87,0.34), (42.31,0.50), (50.70,0.67), (59.03,0.87), (67.31,1.07), (75.57,1.30), (83.82,1.56)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.925294080821623,"cv_gap":19.686}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Aox7QlKHsB","cam_id":"4_resize","sample_timestamps":["000000004501_000900000000","000000004502_000400000000","000000004502_000900000000","000000004503_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004503_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Aox7QlKHsB","cam_id":"2","sample_timestamps":["000000004501_000900000000","000000004502_000400000000","000000004502_000900000000","000000004503_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004503_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Aox7QlKHsB","cam_id":"7","sample_timestamps":["000000004501_000900000000","000000004502_000400000000","000000004502_000900000000","000000004503_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004503_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.600 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and -0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"Aox7QlKHsB"}},"extra_info":{"index":108,"token":"Aox7QlKHsB","id":"Aox7QlKHsB","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.27,0.00), (10.55,0.01), (15.84,0.03), (21.15,0.05), (26.47,0.07), (31.81,0.09), (37.17,0.11), (42.54,0.14), (47.93,0.15), (53.33,0.17)]\nOption B\n  waypoints xy: [(1.80,0.02), (3.61,0.08), (5.43,0.12), (7.27,0.18), (9.11,0.22), (10.96,0.26), (12.81,0.33), (14.65,0.35), (16.45,0.37), (18.24,0.38)]\nOption C\n  waypoints xy: [(7.78,-0.03), (15.55,-0.12), (23.30,-0.28), (30.98,-0.50), (38.60,-0.80), (46.16,-1.18), (53.67,-1.63), (61.10,-2.14), (68.44,-2.70), (75.69,-3.32)]\nOption D\n  waypoints xy: [(5.50,-0.01), (10.98,-0.04), (16.45,-0.07), (21.89,-0.12), (27.32,-0.16), (32.72,-0.20), (38.09,-0.24), (43.41,-0.28), (48.68,-0.32), (53.90,-0.36)]\nOption E\n  waypoints xy: [(6.17,-0.01), (12.34,-0.02), (18.49,-0.04), (24.61,-0.06), (30.67,-0.08), (36.67,-0.11), (42.53,-0.13), (48.22,-0.14), (53.73,-0.15), (59.06,-0.16)]\nOption F\n  waypoints xy: [(1.54,-0.01), (2.78,-0.03), (3.72,-0.04), (4.40,-0.04), (4.88,-0.04), (5.25,-0.03), (5.63,-0.03), (6.14,-0.01), (6.83,0.01), (7.68,0.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.6013886210738213,"cv_gap":10.214}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"zWbWpYjQl3","cam_id":"4_resize","sample_timestamps":["000000003607_000100000000","000000003607_000600000000","000000003608_000100000000","000000003608_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003608_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"zWbWpYjQl3","cam_id":"2","sample_timestamps":["000000003607_000100000000","000000003607_000600000000","000000003608_000100000000","000000003608_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003608_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"zWbWpYjQl3","cam_id":"7","sample_timestamps":["000000003607_000100000000","000000003607_000600000000","000000003608_000100000000","000000003608_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003608_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"zWbWpYjQl3"}},"extra_info":{"index":109,"token":"zWbWpYjQl3","id":"zWbWpYjQl3","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.10,-0.01), (8.29,-0.13), (12.59,-0.24), (16.94,-0.33), (21.30,-0.38), (25.66,-0.40), (30.01,-0.40), (34.36,-0.40), (38.71,-0.38), (43.07,-0.37)]\nOption B\n  waypoints xy: [(7.26,-0.03), (14.51,-0.10), (21.73,-0.19), (28.92,-0.29), (36.06,-0.40), (43.15,-0.52), (50.18,-0.65), (57.13,-0.79), (64.00,-0.94), (70.81,-1.07)]\nOption C\n  waypoints xy: [(5.35,0.00), (10.68,0.02), (15.93,0.06), (21.10,0.10), (26.16,0.14), (31.09,0.18), (35.90,0.21), (40.58,0.24), (45.15,0.26), (49.62,0.29)]\nOption D\n  waypoints xy: [(8.52,0.02), (17.17,0.13), (25.96,0.29), (34.86,0.52), (43.85,0.82), (52.91,1.20), (62.05,1.64), (71.25,2.14), (80.50,2.70), (89.78,3.29)]\nOption E\n  waypoints xy: [(0.85,-0.00), (1.70,-0.00), (2.55,-0.01), (3.39,-0.01), (4.24,-0.02), (5.09,-0.03), (5.93,-0.04), (6.76,-0.07), (7.57,-0.09), (8.38,-0.10)]\nOption F\n  waypoints xy: [(0.46,-0.00), (0.73,-0.00), (0.85,-0.00), (0.87,-0.00), (0.87,-0.00), (0.87,-0.00), (0.88,-0.00), (0.89,-0.00), (0.90,-0.00), (0.96,-0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.7,"cv_gap":7.535}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"8DdcaNe0jB","cam_id":"4_resize","sample_timestamps":["000000001332_000900000000","000000001333_000400000000","000000001333_000900000000","000000001334_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001334_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8DdcaNe0jB","cam_id":"2","sample_timestamps":["000000001332_000900000000","000000001333_000400000000","000000001333_000900000000","000000001334_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001334_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8DdcaNe0jB","cam_id":"7","sample_timestamps":["000000001332_000900000000","000000001333_000400000000","000000001333_000900000000","000000001334_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001334_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.100 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"8DdcaNe0jB"}},"extra_info":{"index":110,"token":"8DdcaNe0jB","id":"8DdcaNe0jB","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.32,-0.01), (8.91,-0.02), (13.72,-0.03), (18.73,-0.05), (23.89,-0.06), (29.18,-0.07), (34.56,-0.06), (40.01,-0.05), (45.49,-0.01), (50.99,0.04)]\nOption B\n  waypoints xy: [(4.55,-0.00), (9.06,-0.00), (13.51,0.00), (17.90,0.01), (22.21,0.02), (26.42,0.02), (30.51,0.01), (34.47,-0.01), (38.32,-0.06), (42.02,-0.12)]\nOption C\n  waypoints xy: [(2.29,-0.00), (4.36,-0.01), (6.21,-0.02), (7.80,-0.02), (9.07,-0.03), (10.01,-0.04), (10.65,-0.04), (11.01,-0.04), (11.17,-0.04), (11.23,-0.04)]\nOption D\n  waypoints xy: [(2.56,-0.02), (5.04,-0.04), (7.51,-0.07), (10.01,-0.09), (12.56,-0.10), (15.16,-0.10), (17.79,-0.09), (20.42,-0.06), (23.06,-0.01), (25.71,0.05)]\nOption E\n  waypoints xy: [(5.16,-0.01), (10.54,-0.02), (16.13,-0.04), (21.90,-0.07), (27.84,-0.10), (33.94,-0.14), (40.18,-0.19), (46.54,-0.23), (53.00,-0.26), (59.51,-0.28)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.1,"cv_gap":14.427}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"v8h5TgYNnq","cam_id":"4_resize","sample_timestamps":["000000001177_000500000000","000000001178_000000000000","000000001178_000500000000","000000001179_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001179_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"v8h5TgYNnq","cam_id":"2","sample_timestamps":["000000001177_000500000000","000000001178_000000000000","000000001178_000500000000","000000001179_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001179_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"v8h5TgYNnq","cam_id":"7","sample_timestamps":["000000001177_000500000000","000000001178_000000000000","000000001178_000500000000","000000001179_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001179_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.300 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"v8h5TgYNnq"}},"extra_info":{"index":111,"token":"v8h5TgYNnq","id":"v8h5TgYNnq","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.38,0.01), (8.67,0.04), (12.84,0.07), (16.88,0.08), (20.81,0.10), (24.58,0.11), (28.12,0.10), (31.32,0.08), (34.15,0.04), (36.77,0.00)]\nOption B\n  waypoints xy: [(3.19,-0.00), (6.54,-0.01), (10.03,-0.01), (13.67,-0.02), (17.42,-0.03), (21.26,-0.04), (25.19,-0.05), (29.19,-0.06), (33.22,-0.06), (37.26,-0.07)]\nOption C\n  waypoints xy: [(1.17,-0.02), (2.33,-0.06), (3.49,-0.11), (4.64,-0.17), (5.79,-0.24), (6.92,-0.31), (8.06,-0.39), (9.21,-0.48), (10.36,-0.57), (11.52,-0.68)]\nOption D\n  waypoints xy: [(4.87,-0.00), (9.72,0.01), (14.54,0.02), (19.35,0.03), (24.18,0.05), (29.03,0.06), (33.93,0.07), (38.87,0.07), (43.83,0.06), (48.81,0.06)]\nOption E\n  waypoints xy: [(7.67,0.08), (15.37,0.08), (23.14,0.08), (30.97,0.16), (38.82,0.16), (46.71,0.25), (54.66,0.34), (62.65,0.43), (70.66,0.44), (78.64,0.54)]\nOption F\n  waypoints xy: [(0.80,0.03), (1.57,0.13), (2.30,0.29), (2.96,0.50), (3.57,0.76), (4.14,1.06), (4.67,1.40), (5.16,1.77), (5.62,2.18), (6.06,2.63)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.3021728866442674,"cv_gap":7.075}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"tSjL0nlX7y","cam_id":"4_resize","sample_timestamps":["000000000556_000300000000","000000000556_000800000000","000000000557_000300000000","000000000557_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000557_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"tSjL0nlX7y","cam_id":"2","sample_timestamps":["000000000556_000300000000","000000000556_000800000000","000000000557_000300000000","000000000557_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000557_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"tSjL0nlX7y","cam_id":"7","sample_timestamps":["000000000556_000300000000","000000000556_000800000000","000000000557_000300000000","000000000557_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000557_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.700 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.300 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"tSjL0nlX7y"}},"extra_info":{"index":112,"token":"tSjL0nlX7y","id":"tSjL0nlX7y","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.86,-0.14), (7.85,-0.41), (11.95,-0.78), (16.14,-1.20), (20.40,-1.66), (24.72,-2.12), (29.06,-2.59), (33.42,-3.03), (37.77,-3.46), (42.08,-3.86)]\nOption B\n  waypoints xy: [(9.75,0.01), (19.52,0.02), (29.35,0.03), (39.24,0.04), (49.19,0.07), (59.19,0.10), (69.23,0.13), (79.30,0.16), (89.39,0.19), (99.51,0.22)]\nOption C\n  waypoints xy: [(0.84,0.01), (1.65,0.03), (2.44,0.06), (3.23,0.10), (4.02,0.13), (4.88,0.16), (5.81,0.21), (6.78,0.24), (7.75,0.27), (8.67,0.31)]\nOption D\n  waypoints xy: [(3.66,-0.02), (7.32,-0.07), (10.94,-0.14), (14.49,-0.22), (17.95,-0.31), (21.34,-0.42), (24.68,-0.53), (27.99,-0.65), (31.28,-0.77), (34.55,-0.90)]\nOption E\n  waypoints xy: [(0.99,0.00), (1.71,0.00), (2.19,0.01), (2.44,0.01), (2.53,0.01), (2.56,0.01), (2.56,0.01), (2.57,0.01), (2.58,0.01), (2.64,0.01)]\nOption F\n  waypoints xy: [(5.62,-0.01), (11.22,-0.04), (16.77,-0.08), (22.28,-0.14), (27.72,-0.22), (33.07,-0.31), (38.34,-0.42), (43.50,-0.54), (48.53,-0.65), (53.42,-0.76)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.70293863659264,"cv_gap":5.99}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Ez2n8ztyZc","cam_id":"4_resize","sample_timestamps":["000000000748_000300000000","000000000748_000800000000","000000000749_000300000000","000000000749_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000749_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Ez2n8ztyZc","cam_id":"2","sample_timestamps":["000000000748_000300000000","000000000748_000800000000","000000000749_000300000000","000000000749_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000749_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Ez2n8ztyZc","cam_id":"7","sample_timestamps":["000000000748_000300000000","000000000748_000800000000","000000000749_000300000000","000000000749_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000749_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.700 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is 0.200 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"Ez2n8ztyZc"}},"extra_info":{"index":113,"token":"Ez2n8ztyZc","id":"Ez2n8ztyZc","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.52,-0.01), (17.01,-0.03), (25.47,-0.07), (33.88,-0.13), (42.26,-0.19), (50.61,-0.24), (58.95,-0.28), (67.29,-0.30), (75.62,-0.32), (83.94,-0.34)]\nOption B\n  waypoints xy: [(3.55,-0.02), (7.18,-0.07), (10.86,-0.13), (14.60,-0.20), (18.38,-0.26), (22.18,-0.30), (26.01,-0.33), (29.83,-0.34), (33.59,-0.33), (37.28,-0.33)]\nOption C\n  waypoints xy: [(3.70,0.00), (7.55,0.01), (11.54,0.02), (15.66,0.02), (19.91,0.01), (24.26,-0.02), (28.69,-0.06), (33.20,-0.10), (37.74,-0.14), (42.30,-0.19)]\nOption D\n  waypoints xy: [(0.77,-0.03), (1.55,-0.10), (2.36,-0.21), (3.18,-0.35), (4.02,-0.50), (4.88,-0.66), (5.76,-0.82), (6.66,-0.98), (7.56,-1.14), (8.47,-1.29)]\nOption E\n  waypoints xy: [(7.18,-0.00), (14.40,-0.01), (21.65,-0.04), (28.93,-0.09), (36.25,-0.14), (43.57,-0.17), (50.83,-0.19), (58.05,-0.21), (65.26,-0.26), (72.43,-0.34)]\nOption F\n  waypoints xy: [(0.69,0.04), (1.38,0.19), (2.08,0.44), (2.76,0.82), (3.43,1.30), (4.09,1.89), (4.73,2.57), (5.36,3.32), (5.97,4.12), (6.58,4.94)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.7262676501632068,"cv_gap":6.731}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"22xtyr9GzW","cam_id":"4_resize","sample_timestamps":["000000002319_000100000000","000000002319_000600000000","000000002320_000100000000","000000002320_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002320_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"22xtyr9GzW","cam_id":"2","sample_timestamps":["000000002319_000100000000","000000002319_000600000000","000000002320_000100000000","000000002320_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002320_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"22xtyr9GzW","cam_id":"7","sample_timestamps":["000000002319_000100000000","000000002319_000600000000","000000002320_000100000000","000000002320_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002320_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.700 m/s at x-direction and 0.200 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"22xtyr9GzW"}},"extra_info":{"index":114,"token":"22xtyr9GzW","id":"22xtyr9GzW","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.84,0.01), (11.73,0.02), (17.66,0.06), (23.63,0.10), (29.64,0.15), (35.69,0.19), (41.75,0.24), (47.81,0.27), (53.83,0.30), (59.80,0.32)]\nOption B\n  waypoints xy: [(4.56,-0.03), (9.11,-0.11), (13.63,-0.20), (18.10,-0.31), (22.49,-0.42), (26.81,-0.52), (31.08,-0.64), (35.29,-0.75), (39.44,-0.86), (43.51,-0.95)]\nOption C\n  waypoints xy: [(3.52,-0.02), (7.50,-0.03), (11.93,-0.06), (16.77,-0.09), (21.98,-0.13), (27.52,-0.18), (33.33,-0.23), (39.38,-0.29), (45.60,-0.36), (51.97,-0.44)]\nOption D\n  waypoints xy: [(0.85,-0.05), (1.67,-0.24), (2.44,-0.55), (3.15,-1.01), (3.80,-1.60), (4.39,-2.30), (4.91,-3.11), (5.36,-4.00), (5.76,-4.95), (6.11,-5.92)]\nOption E\n  waypoints xy: [(2.48,0.60), (4.94,1.82), (7.25,3.65), (9.39,5.98), (11.45,8.70), (13.51,11.71), (15.59,14.96), (17.72,18.38), (19.90,21.93), (22.13,25.57)]\nOption F\n  waypoints xy: [(0.91,0.02), (1.78,0.06), (2.62,0.14), (3.43,0.24), (4.20,0.37), (4.97,0.51), (5.74,0.69), (6.53,0.91), (7.35,1.18), (8.18,1.53)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.7117242768623688,"cv_gap":8.035}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ayMOv9icgf","cam_id":"4_resize","sample_timestamps":["000000003140_000500000000","000000003141_000000000000","000000003141_000500000000","000000003142_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003142_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ayMOv9icgf","cam_id":"2","sample_timestamps":["000000003140_000500000000","000000003141_000000000000","000000003141_000500000000","000000003142_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003142_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ayMOv9icgf","cam_id":"7","sample_timestamps":["000000003140_000500000000","000000003141_000000000000","000000003141_000500000000","000000003142_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003142_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"ayMOv9icgf"}},"extra_info":{"index":115,"token":"ayMOv9icgf","id":"ayMOv9icgf","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.36,0.00), (2.64,0.01), (3.82,0.02), (4.89,0.04), (5.92,0.06), (7.00,0.08), (8.16,0.09), (9.41,0.10), (10.71,0.09), (12.07,0.07)]\nOption B\n  waypoints xy: [(12.84,-0.01), (25.76,-0.02), (38.78,-0.04), (51.90,-0.07), (65.11,-0.12), (78.38,-0.18), (91.66,-0.23), (104.94,-0.28), (118.20,-0.34), (131.44,-0.42)]\nOption C\n  waypoints xy: [(0.85,0.00), (1.39,0.00), (1.67,0.00), (1.77,0.00), (1.78,-0.00), (1.78,-0.00), (1.78,-0.00), (1.78,-0.00), (1.78,-0.00), (1.78,-0.00)]\nOption D\n  waypoints xy: [(5.88,-0.04), (11.73,-0.18), (17.54,-0.41), (23.28,-0.71), (28.96,-1.05), (34.57,-1.42), (40.12,-1.78), (45.58,-2.12), (50.93,-2.45), (56.16,-2.76)]\nOption E\n  waypoints xy: [(4.67,-0.01), (9.50,-0.06), (14.33,-0.16), (18.89,-0.30), (23.07,-0.45), (26.88,-0.65), (30.31,-0.94), (33.39,-1.32), (36.15,-1.68), (38.52,-1.95)]\nOption F\n  waypoints xy: [(5.02,0.00), (10.19,0.01), (15.47,0.03), (20.86,0.06), (26.32,0.12), (31.84,0.20), (37.38,0.30), (42.95,0.41), (48.52,0.54), (54.10,0.69)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.4,"cv_gap":10.15}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/fb584490cd8183c5e747f6aa177a8a21-159/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/fb584490cd8183c5e747f6aa177a8a21-159/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/fb584490cd8183c5e747f6aa177a8a21-159/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 12.004 m/s at x-direction and 0.019 m/s at y-direction. The ego vehicle's current acceleration is -0.036 m/s^2 at x-direction and -0.058 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::fb584490cd8183c5e747f6aa177a8a21-159"}},"extra_info":{"index":116,"token":"waymo_e2e::fb584490cd8183c5e747f6aa177a8a21-159","id":"waymo_e2e::fb584490cd8183c5e747f6aa177a8a21-159","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.85,-0.63), (5.80,-1.86), (8.85,-3.60), (11.99,-5.79), (15.28,-8.31), (18.77,-11.01), (22.44,-13.84), (26.26,-16.75), (30.20,-19.69), (34.20,-22.64)]\nOption B\n  waypoints xy: [(4.18,0.74), (8.56,2.20), (13.13,4.10), (17.95,6.24), (23.03,8.52), (28.38,10.90), (33.98,13.36), (39.74,15.85), (45.61,18.40), (51.57,20.97)]\nOption C\n  waypoints xy: [(0.08,0.00), (0.19,0.01), (0.53,0.02), (1.25,0.04), (2.39,0.10), (3.98,0.18), (5.97,0.31), (8.29,0.49), (10.87,0.75), (13.65,1.12)]\nOption D\n  waypoints xy: [(6.02,0.00), (12.04,0.01), (18.06,0.02), (24.06,0.03), (30.06,0.04), (36.03,0.04), (41.99,0.05), (47.93,0.07), (53.86,0.11), (59.76,0.16)]\nOption E\n  waypoints xy: [(5.26,0.38), (10.51,1.33), (15.71,2.84), (20.83,4.86), (25.86,7.35), (30.79,10.23), (35.59,13.45), (40.27,16.94), (44.80,20.67), (49.17,24.57)]\nOption F\n  waypoints xy: [(5.49,0.04), (11.05,0.15), (16.65,0.35), (22.26,0.64), (27.89,1.04), (33.52,1.56), (39.15,2.19), (44.73,2.96), (50.26,3.86), (55.73,4.88)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":12.004467487908352,"cv_gap":8.529}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/46b378860c66284914bb4879a128842a-091/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/46b378860c66284914bb4879a128842a-091/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/46b378860c66284914bb4879a128842a-091/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.437 m/s at x-direction and 0.020 m/s at y-direction. The ego vehicle's current acceleration is -0.467 m/s^2 at x-direction and -0.067 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::46b378860c66284914bb4879a128842a-091"}},"extra_info":{"index":117,"token":"waymo_e2e::46b378860c66284914bb4879a128842a-091","id":"waymo_e2e::46b378860c66284914bb4879a128842a-091","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.65,-0.01), (13.37,-0.01), (20.12,-0.00), (26.91,0.00), (33.73,0.00), (40.59,0.01), (47.54,0.01), (54.55,0.00), (61.61,-0.00), (68.69,0.01)]\nOption B\n  waypoints xy: [(8.45,-0.01), (16.94,-0.01), (25.45,-0.02), (33.96,-0.04), (42.47,-0.07), (50.98,-0.10), (59.48,-0.14), (67.97,-0.18), (76.42,-0.23), (84.84,-0.30)]\nOption C\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\nOption D\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption E\n  waypoints xy: [(5.20,-0.01), (10.42,-0.04), (15.66,-0.08), (20.92,-0.13), (26.21,-0.18), (31.54,-0.23), (36.98,-0.28), (42.53,-0.34), (48.12,-0.40), (53.80,-0.48)]\nOption F\n  waypoints xy: [(2.34,-0.00), (4.18,-0.01), (5.49,-0.01), (6.25,-0.01), (6.55,-0.01), (6.56,-0.01), (6.56,-0.01), (6.56,-0.01), (6.56,-0.01), (6.56,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.436790974937894,"cv_gap":20.457}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-090/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-090/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-090/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 9.891 m/s at x-direction and 0.010 m/s at y-direction. The ego vehicle's current acceleration is -0.442 m/s^2 at x-direction and -0.051 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-090"}},"extra_info":{"index":118,"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-090","id":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-090","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.88,-0.00), (9.79,-0.01), (14.72,-0.01), (19.67,0.00), (24.62,0.01), (29.57,0.02), (34.53,0.03), (39.46,0.02), (44.37,0.03), (49.24,0.03)]\nOption B\n  waypoints xy: [(5.40,-0.00), (10.79,-0.01), (16.18,-0.03), (21.56,-0.04), (26.88,-0.03), (32.16,-0.02), (37.45,-0.01), (42.75,-0.01), (48.07,-0.01), (53.35,-0.04)]\nOption C\n  waypoints xy: [(7.03,-0.00), (14.00,-0.01), (20.85,-0.01), (27.60,-0.01), (34.25,-0.01), (40.80,0.02), (47.26,0.06), (53.62,0.12), (59.89,0.19), (66.07,0.30)]\nOption D\n  waypoints xy: [(4.04,-0.01), (7.53,-0.02), (10.36,-0.03), (12.43,-0.03), (13.74,-0.03), (14.40,-0.03), (14.61,-0.03), (14.62,-0.03), (14.63,-0.03), (14.70,-0.03)]\nOption E\n  waypoints xy: [(0.91,0.11), (1.99,0.32), (3.21,0.70), (4.50,1.33), (5.76,2.27), (6.92,3.53), (7.89,5.13), (8.59,7.04), (8.93,9.20), (8.90,11.53)]\nOption F\n  waypoints xy: [(1.20,0.16), (2.41,0.54), (3.59,1.18), (4.71,2.10), (5.71,3.29), (6.56,4.75), (7.24,6.43), (7.77,8.26), (8.17,10.17), (8.49,12.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.890637370553033,"cv_gap":34.936}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/33c39f3df0761a8a276b89a785fc30b5-201/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/33c39f3df0761a8a276b89a785fc30b5-201/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/33c39f3df0761a8a276b89a785fc30b5-201/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.807 m/s at x-direction and 0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.443 m/s^2 at x-direction and 0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::33c39f3df0761a8a276b89a785fc30b5-201"}},"extra_info":{"index":119,"token":"waymo_e2e::33c39f3df0761a8a276b89a785fc30b5-201","id":"waymo_e2e::33c39f3df0761a8a276b89a785fc30b5-201","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption B\n  waypoints xy: [(4.83,-0.11), (9.83,-0.41), (14.99,-0.77), (20.32,-1.15), (25.78,-1.53), (31.37,-1.79), (37.07,-1.93), (42.83,-2.01), (48.61,-2.03), (54.38,-1.98)]\nOption C\n  waypoints xy: [(2.91,-0.00), (5.80,-0.01), (8.70,-0.01), (11.62,-0.01), (14.56,-0.00), (17.52,-0.00), (20.49,0.00), (23.44,0.01), (26.37,0.02), (29.28,0.02)]\nOption D\n  waypoints xy: [(2.40,0.00), (4.55,0.00), (6.44,0.01), (8.07,0.01), (9.45,0.01), (10.58,0.02), (11.44,0.03), (12.07,0.03), (12.50,0.04), (12.78,0.04)]\nOption E\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption F\n  waypoints xy: [(13.44,0.35), (26.82,1.53), (40.07,3.52), (53.17,6.32), (66.07,9.89), (78.73,14.22), (91.11,19.29), (103.17,25.06), (114.88,31.52), (126.21,38.63)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.807114383371586,"cv_gap":16.538}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ET5Z8jWuxx","cam_id":"4_resize","sample_timestamps":["000000000644_000900000000","000000000645_000400000000","000000000645_000900000000","000000000646_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000646_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ET5Z8jWuxx","cam_id":"2","sample_timestamps":["000000000644_000900000000","000000000645_000400000000","000000000645_000900000000","000000000646_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000646_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ET5Z8jWuxx","cam_id":"7","sample_timestamps":["000000000644_000900000000","000000000645_000400000000","000000000645_000900000000","000000000646_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000646_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.700 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"ET5Z8jWuxx"}},"extra_info":{"index":120,"token":"ET5Z8jWuxx","id":"ET5Z8jWuxx","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.40,0.00), (10.77,0.01), (16.09,0.02), (21.34,0.04), (26.50,0.07), (31.53,0.10), (36.42,0.13), (41.17,0.16), (45.76,0.18), (50.21,0.21)]\nOption B\n  waypoints xy: [(12.75,-0.02), (25.51,-0.07), (38.31,-0.15), (51.13,-0.26), (63.98,-0.39), (76.86,-0.56), (89.76,-0.78), (102.67,-1.04), (115.59,-1.33), (128.51,-1.65)]\nOption C\n  waypoints xy: [(2.22,0.00), (4.04,0.01), (5.51,0.01), (6.78,0.02), (7.79,0.02), (8.43,0.02), (8.74,0.02), (8.83,0.02), (8.83,0.03), (8.83,0.03)]\nOption D\n  waypoints xy: [(5.20,-0.01), (10.25,-0.01), (15.10,-0.02), (19.71,-0.02), (24.02,-0.02), (27.97,-0.02), (31.54,-0.03), (34.71,-0.06), (37.49,-0.10), (39.90,-0.19)]\nOption E\n  waypoints xy: [(5.19,0.00), (10.42,0.03), (15.69,0.08), (20.98,0.14), (26.29,0.22), (31.62,0.30), (36.96,0.37), (42.30,0.44), (47.63,0.50), (52.95,0.56)]\nOption F\n  waypoints xy: [(2.37,-0.00), (4.72,-0.00), (7.07,-0.01), (9.42,-0.01), (11.75,-0.02), (14.06,-0.03), (16.34,-0.05), (18.60,-0.07), (20.87,-0.09), (23.12,-0.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.701063709417264,"cv_gap":14.445}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"SRxgzlfvte","cam_id":"4_resize","sample_timestamps":["000000006586_000300000000","000000006586_000800000000","000000006587_000300000000","000000006587_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006587_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"SRxgzlfvte","cam_id":"2","sample_timestamps":["000000006586_000300000000","000000006586_000800000000","000000006587_000300000000","000000006587_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006587_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"SRxgzlfvte","cam_id":"7","sample_timestamps":["000000006586_000300000000","000000006586_000800000000","000000006587_000300000000","000000006587_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006587_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.500 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and 0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"SRxgzlfvte"}},"extra_info":{"index":121,"token":"SRxgzlfvte","id":"SRxgzlfvte","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.64,-0.00), (5.03,-0.01), (7.16,-0.01), (8.97,-0.02), (10.44,-0.02), (11.52,-0.03), (12.22,-0.03), (12.58,-0.03), (12.73,-0.03), (12.79,-0.03)]\nOption B\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption C\n  waypoints xy: [(6.80,0.08), (13.93,0.32), (21.26,0.94), (28.81,1.76), (36.57,2.88), (44.49,4.33), (52.58,5.81), (60.80,7.50), (69.20,9.24), (77.80,11.11)]\nOption D\n  waypoints xy: [(9.09,0.05), (18.16,0.13), (27.20,0.25), (36.19,0.41), (45.15,0.60), (54.07,0.82), (62.97,1.08), (71.83,1.36), (80.66,1.66), (89.48,1.97)]\nOption E\n  waypoints xy: [(2.72,-0.00), (5.48,-0.01), (8.27,-0.05), (11.08,-0.10), (13.86,-0.16), (16.62,-0.23), (19.32,-0.30), (21.97,-0.37), (24.57,-0.44), (27.12,-0.49)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.500909015790027,"cv_gap":14.642}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"x6tVJCmCvX","cam_id":"4_resize","sample_timestamps":["000000001197_000900000000","000000001198_000400000000","000000001198_000900000000","000000001199_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001199_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"x6tVJCmCvX","cam_id":"2","sample_timestamps":["000000001197_000900000000","000000001198_000400000000","000000001198_000900000000","000000001199_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001199_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"x6tVJCmCvX","cam_id":"7","sample_timestamps":["000000001197_000900000000","000000001198_000400000000","000000001198_000900000000","000000001199_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001199_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.500 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"x6tVJCmCvX"}},"extra_info":{"index":122,"token":"x6tVJCmCvX","id":"x6tVJCmCvX","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.23,0.04), (14.42,0.14), (21.60,0.33), (28.76,0.56), (35.92,0.84), (43.05,1.17), (50.17,1.56), (57.23,2.02), (64.23,2.56), (71.19,3.18)]\nOption B\n  waypoints xy: [(3.81,-0.01), (7.62,-0.03), (11.41,-0.05), (15.18,-0.08), (18.92,-0.12), (22.64,-0.16), (26.33,-0.21), (29.98,-0.26), (33.60,-0.31), (37.18,-0.36)]\nOption C\n  waypoints xy: [(5.13,-0.01), (10.27,0.01), (15.43,0.04), (20.60,0.07), (25.78,0.11), (30.95,0.13), (36.14,0.16), (41.33,0.19), (46.53,0.21), (51.75,0.23)]\nOption D\n  waypoints xy: [(0.71,0.00), (1.46,0.01), (2.26,0.02), (3.11,0.03), (3.96,0.05), (4.80,0.06), (5.60,0.07), (6.38,0.08), (7.15,0.09), (7.90,0.11)]\nOption E\n  waypoints xy: [(0.66,-0.00), (1.23,-0.00), (1.68,-0.00), (2.02,-0.00), (2.26,-0.00), (2.45,-0.00), (2.62,-0.01), (2.77,-0.01), (2.89,-0.01), (2.99,-0.01)]\nOption F\n  waypoints xy: [(4.70,0.02), (9.46,0.07), (14.26,0.14), (19.08,0.21), (23.93,0.29), (28.79,0.36), (33.66,0.43), (38.50,0.50), (43.28,0.57), (48.04,0.63)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.6,"cv_gap":4.977}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"UyNf6ZlBy9","cam_id":"4_resize","sample_timestamps":["000000005113_000700000000","000000005114_000200000000","000000005114_000700000000","000000005115_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005115_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"UyNf6ZlBy9","cam_id":"2","sample_timestamps":["000000005113_000700000000","000000005114_000200000000","000000005114_000700000000","000000005115_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005115_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"UyNf6ZlBy9","cam_id":"7","sample_timestamps":["000000005113_000700000000","000000005114_000200000000","000000005114_000700000000","000000005115_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005115_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"UyNf6ZlBy9"}},"extra_info":{"index":123,"token":"UyNf6ZlBy9","id":"UyNf6ZlBy9","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.24,-0.02), (0.66,-0.06), (1.40,-0.20), (2.49,-0.53), (3.84,-1.24), (5.26,-2.47), (6.52,-4.29), (7.53,-6.67), (8.30,-9.55), (8.95,-12.90)]\nOption B\n  waypoints xy: [(3.07,-0.00), (5.80,0.03), (8.17,0.12), (10.19,0.23), (11.81,0.34), (13.03,0.43), (13.91,0.51), (14.48,0.57), (14.75,0.59), (14.83,0.60)]\nOption C\n  waypoints xy: [(6.02,0.04), (11.92,0.17), (17.66,0.36), (23.24,0.63), (28.69,0.94), (34.02,1.28), (39.22,1.64), (44.28,1.98), (49.22,2.30), (54.01,2.59)]\nOption D\n  waypoints xy: [(6.56,0.00), (13.13,0.03), (19.70,0.06), (26.27,0.11), (32.82,0.16), (39.35,0.22), (45.84,0.28), (52.29,0.35), (58.68,0.41), (65.03,0.46)]\nOption E\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption F\n  waypoints xy: [(3.38,-0.01), (6.72,-0.01), (10.05,-0.02), (13.37,-0.04), (16.69,-0.05), (20.04,-0.05), (23.42,-0.04), (26.84,-0.01), (30.31,0.03), (33.82,0.06)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.7,"cv_gap":18.413}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"V428DMksuU","cam_id":"4_resize","sample_timestamps":["000000011153_000800000000","000000011154_000300000000","000000011154_000800000000","000000011155_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000011155_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"V428DMksuU","cam_id":"2","sample_timestamps":["000000011153_000800000000","000000011154_000300000000","000000011154_000800000000","000000011155_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000011155_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"V428DMksuU","cam_id":"7","sample_timestamps":["000000011153_000800000000","000000011154_000300000000","000000011154_000800000000","000000011155_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000011155_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 7.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"V428DMksuU"}},"extra_info":{"index":124,"token":"V428DMksuU","id":"V428DMksuU","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.26,0.00), (10.48,0.01), (15.67,0.01), (20.82,0.02), (25.95,0.02), (31.06,0.02), (36.16,0.02), (41.24,0.02), (46.30,0.02), (51.33,0.03)]\nOption B\n  waypoints xy: [(3.86,-0.01), (7.73,-0.01), (11.62,-0.02), (15.50,-0.03), (19.36,-0.03), (23.17,-0.03), (26.96,-0.03), (30.72,-0.03), (34.48,-0.03), (38.23,-0.03)]\nOption C\n  waypoints xy: [(4.84,0.01), (9.65,0.03), (14.43,0.06), (19.19,0.09), (23.93,0.13), (28.68,0.18), (33.43,0.23), (38.20,0.28), (42.98,0.34), (47.77,0.40)]\nOption D\n  waypoints xy: [(7.24,0.01), (14.49,0.05), (21.75,0.11), (29.01,0.18), (36.28,0.26), (43.57,0.33), (50.88,0.39), (58.21,0.44), (65.54,0.48), (72.88,0.52)]\nOption E\n  waypoints xy: [(5.88,0.01), (11.45,-0.01), (16.68,-0.06), (21.52,-0.15), (25.96,-0.30), (30.00,-0.47), (33.71,-0.64), (37.16,-0.82), (40.36,-1.00), (43.32,-1.18)]\nOption F\n  waypoints xy: [(2.91,0.01), (5.36,0.04), (7.28,0.06), (8.64,0.08), (9.46,0.10), (9.82,0.10), (9.89,0.10), (9.91,0.10), (9.93,0.10), (10.00,0.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.7,"cv_gap":28.857}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/d39e58a488ce56a6bada02d91db8d48f-119/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d39e58a488ce56a6bada02d91db8d48f-119/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d39e58a488ce56a6bada02d91db8d48f-119/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.216 m/s at x-direction and -0.022 m/s at y-direction. The ego vehicle's current acceleration is -0.149 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::d39e58a488ce56a6bada02d91db8d48f-119"}},"extra_info":{"index":125,"token":"waymo_e2e::d39e58a488ce56a6bada02d91db8d48f-119","id":"waymo_e2e::d39e58a488ce56a6bada02d91db8d48f-119","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.45,-0.06), (6.92,-0.18), (10.42,-0.33), (13.93,-0.52), (17.44,-0.74), (20.94,-0.99), (24.43,-1.24), (27.91,-1.43), (31.41,-1.58), (34.91,-1.67)]\nOption B\n  waypoints xy: [(1.54,-0.01), (2.70,-0.03), (3.48,-0.04), (3.90,-0.05), (4.04,-0.05), (4.05,-0.05), (4.05,-0.05), (4.05,-0.05), (4.07,-0.05), (4.15,-0.05)]\nOption C\n  waypoints xy: [(4.75,-0.11), (9.79,-0.34), (15.05,-0.58), (20.42,-0.83), (25.84,-1.02), (31.21,-1.15), (36.48,-1.22), (41.67,-1.23), (46.80,-1.24), (51.87,-1.20)]\nOption D\n  waypoints xy: [(5.72,-0.04), (11.32,-0.15), (16.75,-0.32), (22.00,-0.53), (27.03,-0.78), (31.82,-1.05), (36.33,-1.32), (40.54,-1.59), (44.47,-1.84), (48.15,-2.06)]\nOption E\n  waypoints xy: [(1.63,-0.00), (3.25,-0.00), (4.87,-0.01), (6.48,-0.02), (8.10,-0.03), (9.72,-0.04), (11.33,-0.05), (12.91,-0.06), (14.45,-0.08), (15.96,-0.09)]\nOption F\n  waypoints xy: [(4.82,-0.01), (9.65,-0.02), (14.49,-0.05), (19.33,-0.09), (24.20,-0.14), (29.09,-0.19), (34.00,-0.22), (38.93,-0.23), (43.89,-0.21), (48.86,-0.18)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.216219408544839,"cv_gap":11.983}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/b7f27692a540399e77c98c7034b68056-175/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b7f27692a540399e77c98c7034b68056-175/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b7f27692a540399e77c98c7034b68056-175/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.987 m/s at x-direction and 0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.303 m/s^2 at x-direction and 0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b7f27692a540399e77c98c7034b68056-175"}},"extra_info":{"index":126,"token":"waymo_e2e::b7f27692a540399e77c98c7034b68056-175","id":"waymo_e2e::b7f27692a540399e77c98c7034b68056-175","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.39,-0.00), (16.82,-0.00), (25.30,-0.01), (33.87,-0.03), (42.52,-0.04), (51.27,-0.07), (60.09,-0.11), (68.99,-0.14), (77.96,-0.15), (87.01,-0.15)]\nOption B\n  waypoints xy: [(8.68,0.01), (17.34,0.02), (25.95,0.03), (34.54,0.05), (43.15,0.10), (51.85,0.17), (60.65,0.23), (69.54,0.27), (78.52,0.28), (87.59,0.26)]\nOption C\n  waypoints xy: [(1.83,0.00), (3.41,0.01), (4.75,0.02), (5.87,0.03), (6.76,0.03), (7.43,0.04), (7.91,0.05), (8.21,0.05), (8.42,0.05), (8.59,0.06)]\nOption D\n  waypoints xy: [(6.84,-0.01), (13.64,-0.06), (20.35,-0.14), (26.94,-0.27), (33.41,-0.42), (39.72,-0.61), (45.89,-0.81), (51.91,-1.01), (57.80,-1.21), (63.60,-1.40)]\nOption E\n  waypoints xy: [(4.57,0.00), (9.20,-0.00), (13.84,-0.00), (18.47,-0.00), (23.07,-0.00), (27.61,0.00), (32.05,0.01), (36.34,0.02), (40.41,0.03), (44.22,0.04)]\nOption F\n  waypoints xy: [(1.94,0.00), (3.89,0.01), (5.87,0.02), (7.87,0.04), (9.87,0.04), (11.89,0.05), (13.92,0.05), (16.00,0.05), (18.11,0.04), (20.24,0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.9873366365829725,"cv_gap":11.015}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/398fc14a4b1d2a00773c9b96462324e8-215/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/398fc14a4b1d2a00773c9b96462324e8-215/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/398fc14a4b1d2a00773c9b96462324e8-215/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 8.798 m/s at x-direction and -0.011 m/s at y-direction. The ego vehicle's current acceleration is -0.203 m/s^2 at x-direction and -0.007 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::398fc14a4b1d2a00773c9b96462324e8-215"}},"extra_info":{"index":127,"token":"waymo_e2e::398fc14a4b1d2a00773c9b96462324e8-215","id":"waymo_e2e::398fc14a4b1d2a00773c9b96462324e8-215","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.57,-0.01), (13.33,-0.03), (20.26,-0.06), (27.37,-0.10), (34.64,-0.15), (42.03,-0.21), (49.52,-0.28), (57.10,-0.34), (64.73,-0.40), (72.40,-0.46)]\nOption B\n  waypoints xy: [(4.01,-0.03), (7.89,-0.09), (11.61,-0.18), (15.15,-0.32), (18.50,-0.50), (21.63,-0.70), (24.55,-0.92), (27.22,-1.14), (29.66,-1.37), (31.87,-1.58)]\nOption C\n  waypoints xy: [(4.34,0.00), (8.69,0.01), (13.05,0.01), (17.43,0.00), (21.83,-0.01), (26.25,-0.03), (30.69,-0.05), (35.12,-0.08), (39.55,-0.10), (43.93,-0.11)]\nOption D\n  waypoints xy: [(3.04,0.29), (6.05,0.97), (9.03,2.11), (11.87,3.75), (14.50,5.85), (16.87,8.37), (18.90,11.29), (20.57,14.57), (21.97,18.21), (23.09,22.18)]\nOption E\n  waypoints xy: [(3.13,0.27), (6.22,0.91), (9.21,1.99), (12.03,3.56), (14.58,5.66), (16.75,8.31), (18.48,11.47), (19.83,15.08), (20.87,19.07), (21.74,23.39)]\nOption F\n  waypoints xy: [(0.59,-0.04), (1.15,-0.13), (1.68,-0.28), (2.17,-0.47), (2.61,-0.69), (3.02,-0.94), (3.41,-1.21), (3.77,-1.50), (4.11,-1.82), (4.42,-2.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.797727067152218,"cv_gap":13.104}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/bfa129412a0bf23a3a31aba143a93e88-105/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/bfa129412a0bf23a3a31aba143a93e88-105/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/bfa129412a0bf23a3a31aba143a93e88-105/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.593 m/s at x-direction and 0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.097 m/s^2 at x-direction and -0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::bfa129412a0bf23a3a31aba143a93e88-105"}},"extra_info":{"index":128,"token":"waymo_e2e::bfa129412a0bf23a3a31aba143a93e88-105","id":"waymo_e2e::bfa129412a0bf23a3a31aba143a93e88-105","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.69,-0.08), (11.50,-0.29), (17.42,-0.62), (23.45,-1.09), (29.56,-1.67), (35.75,-2.33), (41.99,-3.04), (48.29,-3.75), (54.63,-4.44), (60.99,-5.08)]\nOption B\n  waypoints xy: [(2.03,-0.00), (3.89,-0.01), (5.56,-0.03), (7.02,-0.06), (8.28,-0.08), (9.35,-0.12), (10.23,-0.14), (10.94,-0.17), (11.52,-0.20), (11.99,-0.21)]\nOption C\n  waypoints xy: [(4.69,-0.02), (9.30,-0.07), (13.83,-0.14), (18.23,-0.22), (22.50,-0.30), (26.63,-0.38), (30.62,-0.47), (34.44,-0.55), (38.09,-0.65), (41.56,-0.75)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(2.44,0.01), (4.82,0.02), (7.13,0.03), (9.37,0.04), (11.58,0.06), (13.77,0.08), (15.98,0.09), (18.20,0.11), (20.41,0.12), (22.61,0.14)]\nOption F\n  waypoints xy: [(7.05,-0.01), (14.08,-0.02), (21.08,-0.02), (28.05,-0.02), (34.97,-0.01), (41.83,0.01), (48.63,0.02), (55.38,0.05), (62.06,0.08), (68.67,0.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.593184476004231,"cv_gap":11.37}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/1f734e64cd6d2dd72a8ff9690b63778b-215/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1f734e64cd6d2dd72a8ff9690b63778b-215/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1f734e64cd6d2dd72a8ff9690b63778b-215/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.611 m/s at x-direction and -0.009 m/s at y-direction. The ego vehicle's current acceleration is -0.112 m/s^2 at x-direction and -0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::1f734e64cd6d2dd72a8ff9690b63778b-215"}},"extra_info":{"index":129,"token":"waymo_e2e::1f734e64cd6d2dd72a8ff9690b63778b-215","id":"waymo_e2e::1f734e64cd6d2dd72a8ff9690b63778b-215","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.66,-0.01), (4.71,-0.03), (6.06,-0.05), (6.74,-0.06), (6.94,-0.07), (6.95,-0.07), (6.95,-0.07), (6.95,-0.06), (7.01,-0.06), (7.18,-0.07)]\nOption B\n  waypoints xy: [(4.26,-0.01), (8.51,-0.01), (12.73,-0.01), (16.88,0.03), (20.97,0.06), (25.02,0.09), (29.03,0.12), (32.92,0.16), (36.47,0.21), (39.63,0.26)]\nOption C\n  waypoints xy: [(5.84,0.03), (11.68,0.12), (17.55,0.26), (23.42,0.40), (29.29,0.55), (35.18,0.66), (41.02,0.74), (46.73,0.84), (52.21,0.97), (57.41,1.17)]\nOption D\n  waypoints xy: [(6.21,-0.04), (12.52,-0.15), (18.93,-0.30), (25.44,-0.48), (32.04,-0.66), (38.70,-0.79), (45.39,-0.87), (52.11,-0.90), (58.85,-0.88), (65.59,-0.83)]\nOption E\n  waypoints xy: [(7.38,-0.00), (14.80,0.00), (22.28,0.02), (29.80,0.04), (37.35,0.07), (44.90,0.10), (52.32,0.14), (59.36,0.20), (66.22,0.29), (73.04,0.38)]\nOption F\n  waypoints xy: [(2.83,-0.01), (5.64,-0.02), (8.43,-0.04), (11.23,-0.06), (14.05,-0.07), (16.87,-0.08), (19.69,-0.08), (22.51,-0.10), (25.33,-0.11), (28.14,-0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.611100096611863,"cv_gap":20.293}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"TQoPtiPV7l","cam_id":"4_resize","sample_timestamps":["000000000565_000400000000","000000000565_000900000000","000000000566_000400000000","000000000566_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000566_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TQoPtiPV7l","cam_id":"2","sample_timestamps":["000000000565_000400000000","000000000565_000900000000","000000000566_000400000000","000000000566_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000566_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TQoPtiPV7l","cam_id":"7","sample_timestamps":["000000000565_000400000000","000000000565_000900000000","000000000566_000400000000","000000000566_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000566_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.900 m/s at x-direction and 0.200 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"TQoPtiPV7l"}},"extra_info":{"index":130,"token":"TQoPtiPV7l","id":"TQoPtiPV7l","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.25,-0.00), (8.54,-0.01), (12.81,-0.01), (16.98,-0.02), (21.08,-0.02), (25.14,-0.02), (29.17,-0.00), (33.15,0.02), (37.09,0.06), (40.99,0.10)]\nOption B\n  waypoints xy: [(1.00,0.04), (2.00,0.08), (2.98,0.14), (3.95,0.21), (4.89,0.28), (5.82,0.38), (6.75,0.49), (7.66,0.58), (8.56,0.69), (9.44,0.80)]\nOption C\n  waypoints xy: [(5.07,-0.00), (9.89,-0.00), (14.44,-0.00), (18.67,0.00), (22.58,0.01), (26.17,0.01), (29.47,-0.01), (32.48,-0.04), (35.23,-0.14), (37.69,-0.34)]\nOption D\n  waypoints xy: [(0.96,-0.05), (1.77,-0.19), (2.38,-0.35), (2.91,-0.50), (3.41,-0.68), (3.77,-0.83), (4.07,-0.97), (4.36,-1.10), (4.58,-1.21), (4.72,-1.28)]\nOption E\n  waypoints xy: [(6.90,0.01), (13.65,0.02), (20.23,0.04), (26.68,0.06), (33.03,0.06), (39.28,0.05), (45.43,0.04), (51.50,0.03), (57.53,0.01), (63.52,0.00)]\nOption F\n  waypoints xy: [(5.64,-0.02), (10.98,-0.05), (15.98,-0.10), (20.56,-0.16), (24.64,-0.22), (28.16,-0.29), (31.07,-0.38), (33.40,-0.49), (35.16,-0.62), (36.43,-0.77)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.91049731745428,"cv_gap":5.482}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/a8946839f992a16fdd3f88c6f969199a-123/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a8946839f992a16fdd3f88c6f969199a-123/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a8946839f992a16fdd3f88c6f969199a-123/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.287 m/s at x-direction and -0.018 m/s at y-direction. The ego vehicle's current acceleration is -0.559 m/s^2 at x-direction and -0.018 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::a8946839f992a16fdd3f88c6f969199a-123"}},"extra_info":{"index":131,"token":"waymo_e2e::a8946839f992a16fdd3f88c6f969199a-123","id":"waymo_e2e::a8946839f992a16fdd3f88c6f969199a-123","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.48,0.03), (6.96,0.10), (10.41,0.23), (13.80,0.41), (17.14,0.62), (20.40,0.88), (23.60,1.15), (26.72,1.44), (29.77,1.74), (32.71,2.03)]\nOption B\n  waypoints xy: [(1.10,0.00), (1.80,0.00), (2.10,0.00), (2.13,0.00), (2.13,0.00), (2.12,0.00), (2.12,0.01), (2.12,0.01), (2.26,0.01), (2.97,0.01)]\nOption C\n  waypoints xy: [(8.55,-0.04), (17.10,-0.11), (25.63,-0.17), (34.03,-0.09), (42.23,0.14), (50.17,0.50), (57.82,0.93), (65.18,1.40), (72.25,1.87), (79.05,2.34)]\nOption D\n  waypoints xy: [(4.19,-0.06), (8.36,-0.17), (12.48,-0.35), (16.54,-0.58), (20.53,-0.85), (24.45,-1.15), (28.31,-1.43), (32.10,-1.70), (35.80,-1.94), (39.38,-2.18)]\nOption E\n  waypoints xy: [(1.63,-0.00), (3.25,-0.00), (4.87,-0.01), (6.48,-0.02), (8.10,-0.03), (9.72,-0.04), (11.33,-0.05), (12.91,-0.06), (14.45,-0.08), (15.96,-0.09)]\nOption F\n  waypoints xy: [(6.81,0.01), (13.62,0.05), (20.43,0.12), (27.25,0.20), (34.06,0.30), (40.88,0.40), (47.70,0.52), (54.52,0.65), (61.32,0.79), (68.08,0.96)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.286805979968126,"cv_gap":13.381}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"EmoklYT0td","cam_id":"4_resize","sample_timestamps":["000000005376_000900000000","000000005377_000400000000","000000005377_000900000000","000000005378_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005378_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"EmoklYT0td","cam_id":"2","sample_timestamps":["000000005376_000900000000","000000005377_000400000000","000000005377_000900000000","000000005378_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005378_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"EmoklYT0td","cam_id":"7","sample_timestamps":["000000005376_000900000000","000000005377_000400000000","000000005377_000900000000","000000005378_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005378_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"EmoklYT0td"}},"extra_info":{"index":132,"token":"EmoklYT0td","id":"EmoklYT0td","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.75,0.00), (3.16,0.00), (4.28,0.00), (5.08,0.00), (5.52,0.00), (5.76,0.00), (5.83,0.00), (5.96,0.00), (6.04,0.00), (6.19,0.00)]\nOption B\n  waypoints xy: [(1.90,0.00), (3.86,0.00), (5.87,0.00), (7.87,0.01), (9.87,0.00), (11.88,-0.00), (13.86,-0.01), (15.83,-0.03), (17.77,-0.06), (19.65,-0.12)]\nOption C\n  waypoints xy: [(7.30,-0.00), (14.48,0.00), (21.46,0.01), (28.25,0.01), (34.85,-0.01), (41.26,-0.03), (47.49,-0.05), (53.53,-0.07), (59.43,-0.08), (65.24,-0.09)]\nOption D\n  waypoints xy: [(4.94,0.00), (9.90,0.03), (14.87,0.06), (19.84,0.11), (24.82,0.16), (29.80,0.20), (34.75,0.24), (39.67,0.27), (44.54,0.31), (49.33,0.34)]\nOption E\n  waypoints xy: [(4.17,-0.03), (8.47,-0.09), (12.85,-0.20), (17.31,-0.35), (21.82,-0.56), (26.39,-0.82), (31.00,-1.11), (35.64,-1.44), (40.31,-1.79), (44.98,-2.16)]\nOption F\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.9,"cv_gap":13.269}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/6974ef56bd2649be001090dddb0b5077-154/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6974ef56bd2649be001090dddb0b5077-154/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6974ef56bd2649be001090dddb0b5077-154/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.885 m/s at x-direction and -0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.421 m/s^2 at x-direction and -0.013 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::6974ef56bd2649be001090dddb0b5077-154"}},"extra_info":{"index":133,"token":"waymo_e2e::6974ef56bd2649be001090dddb0b5077-154","id":"waymo_e2e::6974ef56bd2649be001090dddb0b5077-154","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.84,-0.21), (10.16,-0.63), (15.90,-1.14), (21.97,-1.72), (28.27,-2.35), (34.74,-3.05), (41.30,-3.80), (47.91,-4.59), (54.53,-5.38), (61.14,-6.16)]\nOption B\n  waypoints xy: [(1.70,-0.14), (3.48,-0.52), (5.24,-1.21), (6.88,-2.29), (8.28,-3.76), (9.36,-5.58), (10.11,-7.71), (10.56,-10.11), (10.80,-12.72), (10.93,-15.51)]\nOption C\n  waypoints xy: [(4.40,-0.00), (8.83,-0.01), (13.27,-0.01), (17.71,-0.01), (22.16,-0.02), (26.61,-0.03), (31.05,-0.05), (35.48,-0.08), (39.88,-0.10), (44.25,-0.12)]\nOption D\n  waypoints xy: [(4.75,-0.68), (9.48,-2.26), (14.22,-4.53), (18.93,-7.40), (23.49,-10.91), (27.79,-15.02), (31.74,-19.66), (35.24,-24.80), (38.31,-30.37), (41.05,-36.30)]\nOption E\n  waypoints xy: [(1.58,0.24), (3.16,0.74), (4.71,1.47), (6.25,2.44), (7.77,3.60), (9.27,4.92), (10.73,6.39), (12.18,7.99), (13.62,9.71), (15.04,11.55)]\nOption F\n  waypoints xy: [(4.26,0.00), (8.11,0.01), (11.44,0.02), (14.19,0.03), (16.28,0.03), (17.66,0.03), (18.41,0.04), (18.73,0.04), (18.85,0.04), (18.95,0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.88481831628202,"cv_gap":25.586}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/af3d93ac2b96dbe21580fca517b1ab7e-142/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/af3d93ac2b96dbe21580fca517b1ab7e-142/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/af3d93ac2b96dbe21580fca517b1ab7e-142/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 13.666 m/s at x-direction and -0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.577 m/s^2 at x-direction and -0.022 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::af3d93ac2b96dbe21580fca517b1ab7e-142"}},"extra_info":{"index":134,"token":"waymo_e2e::af3d93ac2b96dbe21580fca517b1ab7e-142","id":"waymo_e2e::af3d93ac2b96dbe21580fca517b1ab7e-142","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.95,0.01), (16.06,0.04), (24.29,0.07), (32.49,0.06), (40.48,-0.06), (48.19,-0.20), (55.51,-0.37), (62.38,-0.57), (68.77,-0.79), (74.75,-1.02)]\nOption B\n  waypoints xy: [(0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00)]\nOption C\n  waypoints xy: [(2.61,0.43), (5.22,1.36), (7.74,2.78), (10.12,4.67), (12.34,6.97), (14.43,9.58), (16.45,12.46), (18.42,15.56), (20.40,18.84), (22.42,22.28)]\nOption D\n  waypoints xy: [(6.82,0.00), (13.66,0.01), (20.49,0.03), (27.32,0.05), (34.12,0.07), (40.92,0.09), (47.72,0.11), (54.53,0.13), (61.33,0.15), (68.10,0.16)]\nOption E\n  waypoints xy: [(2.32,0.30), (4.55,1.13), (6.76,2.37), (9.15,3.81), (11.72,5.50), (14.47,7.40), (17.43,9.39), (20.53,11.53), (23.83,13.70), (27.29,15.92)]\nOption F\n  waypoints xy: [(4.90,-0.04), (9.52,-0.15), (13.81,-0.32), (17.70,-0.54), (21.16,-0.82), (24.17,-1.17), (26.68,-1.63), (28.72,-2.23), (30.26,-2.97), (31.36,-3.83)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":13.665796430814552,"cv_gap":39.132}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"HF9ppcnadK","cam_id":"4_resize","sample_timestamps":["000000002613_000800000000","000000002614_000300000000","000000002614_000800000000","000000002615_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002615_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HF9ppcnadK","cam_id":"2","sample_timestamps":["000000002613_000800000000","000000002614_000300000000","000000002614_000800000000","000000002615_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002615_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HF9ppcnadK","cam_id":"7","sample_timestamps":["000000002613_000800000000","000000002614_000300000000","000000002614_000800000000","000000002615_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002615_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 7.500 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"HF9ppcnadK"}},"extra_info":{"index":135,"token":"HF9ppcnadK","id":"HF9ppcnadK","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.84,-0.01), (13.62,-0.02), (20.38,-0.03), (27.12,-0.03), (33.83,-0.03), (40.50,-0.03), (47.10,-0.03), (53.65,-0.02), (60.15,-0.01), (66.59,0.00)]\nOption B\n  waypoints xy: [(0.24,-0.02), (0.66,-0.06), (1.40,-0.20), (2.49,-0.53), (3.84,-1.24), (5.26,-2.47), (6.52,-4.29), (7.53,-6.67), (8.30,-9.55), (8.95,-12.90)]\nOption C\n  waypoints xy: [(5.42,-0.01), (10.85,-0.03), (16.28,-0.06), (21.72,-0.09), (27.17,-0.13), (32.63,-0.18), (38.09,-0.22), (43.54,-0.26), (48.97,-0.30), (54.39,-0.34)]\nOption D\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption E\n  waypoints xy: [(3.80,-0.00), (7.59,-0.00), (11.34,0.04), (15.08,0.04), (18.80,0.13), (22.52,0.17), (26.24,0.26), (29.94,0.35), (33.61,0.43), (37.32,0.52)]\nOption F\n  waypoints xy: [(3.15,-0.02), (6.04,-0.05), (8.60,-0.08), (10.76,-0.11), (12.47,-0.13), (13.72,-0.15), (14.51,-0.16), (14.90,-0.16), (15.01,-0.16), (15.04,-0.16)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.500666637039671,"cv_gap":22.76}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"OuF2i7Icf8","cam_id":"4_resize","sample_timestamps":["000000001383_000600000000","000000001384_000100000000","000000001384_000600000000","000000001385_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001385_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OuF2i7Icf8","cam_id":"2","sample_timestamps":["000000001383_000600000000","000000001384_000100000000","000000001384_000600000000","000000001385_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001385_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OuF2i7Icf8","cam_id":"7","sample_timestamps":["000000001383_000600000000","000000001384_000100000000","000000001384_000600000000","000000001385_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001385_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.700 m/s at x-direction and -0.200 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"OuF2i7Icf8"}},"extra_info":{"index":136,"token":"OuF2i7Icf8","id":"OuF2i7Icf8","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.40,-0.00), (9.09,-0.01), (14.07,-0.01), (19.34,-0.03), (24.72,-0.06), (30.13,-0.09), (35.64,-0.15), (41.24,-0.22), (46.93,-0.32), (52.71,-0.41)]\nOption B\n  waypoints xy: [(4.09,-0.04), (8.22,-0.13), (12.36,-0.26), (16.50,-0.42), (20.61,-0.59), (24.70,-0.75), (28.76,-0.89), (32.76,-1.01), (36.69,-1.10), (40.54,-1.15)]\nOption C\n  waypoints xy: [(4.99,0.00), (10.00,0.00), (15.03,0.05), (20.09,0.06), (25.17,0.12), (30.30,0.23), (35.47,0.46), (40.68,0.70), (45.93,0.99), (51.25,1.22)]\nOption D\n  waypoints xy: [(4.11,0.04), (8.26,0.14), (12.42,0.25), (16.62,0.35), (20.85,0.40), (25.09,0.39), (29.32,0.30), (33.54,0.15), (37.77,-0.05), (41.98,-0.30)]\nOption E\n  waypoints xy: [(2.48,-0.04), (4.95,-0.13), (7.37,-0.26), (9.73,-0.41), (12.03,-0.58), (14.31,-0.74), (16.59,-0.89), (18.87,-1.04), (21.16,-1.18), (23.44,-1.31)]\nOption F\n  waypoints xy: [(1.44,0.04), (2.74,0.15), (3.88,0.31), (4.84,0.48), (5.60,0.64), (6.14,0.76), (6.48,0.84), (6.68,0.88), (6.79,0.91), (6.90,0.93)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.70425339453563,"cv_gap":17.067}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"1duZIuUnYv","cam_id":"4_resize","sample_timestamps":["000000007311_000500000000","000000007312_000000000000","000000007312_000500000000","000000007313_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007313_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1duZIuUnYv","cam_id":"2","sample_timestamps":["000000007311_000500000000","000000007312_000000000000","000000007312_000500000000","000000007313_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007313_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1duZIuUnYv","cam_id":"7","sample_timestamps":["000000007311_000500000000","000000007312_000000000000","000000007312_000500000000","000000007313_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007313_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.900 m/s at x-direction and -0.200 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"1duZIuUnYv"}},"extra_info":{"index":137,"token":"1duZIuUnYv","id":"1duZIuUnYv","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.98,0.01), (15.98,0.04), (24.00,0.09), (32.04,0.16), (40.10,0.23), (48.17,0.31), (56.22,0.38), (64.24,0.45), (72.23,0.52), (80.18,0.57)]\nOption B\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption C\n  waypoints xy: [(6.93,0.08), (13.75,0.15), (20.46,0.30), (27.05,0.44), (33.51,0.65), (39.85,0.93), (46.08,1.27), (52.21,1.61), (58.22,2.01), (64.11,2.40)]\nOption D\n  waypoints xy: [(2.36,-0.02), (4.79,-0.08), (7.28,-0.15), (9.78,-0.24), (12.29,-0.34), (14.80,-0.45), (17.29,-0.55), (19.76,-0.66), (22.24,-0.77), (24.72,-0.89)]\nOption E\n  waypoints xy: [(2.28,0.05), (4.37,0.15), (6.21,0.28), (7.81,0.44), (9.18,0.64), (10.27,0.82), (11.08,1.00), (11.71,1.14), (12.18,1.25), (12.52,1.34)]\nOption F\n  waypoints xy: [(4.19,-0.02), (8.47,-0.06), (12.85,-0.13), (17.29,-0.21), (21.78,-0.30), (26.28,-0.39), (30.80,-0.47), (35.34,-0.54), (39.88,-0.62), (44.42,-0.70)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.904079934095692,"cv_gap":12.203}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/81cb5be798fbe6857f19aa44fda2ea43-048/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/81cb5be798fbe6857f19aa44fda2ea43-048/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/81cb5be798fbe6857f19aa44fda2ea43-048/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 8.164 m/s at x-direction and -0.015 m/s at y-direction. The ego vehicle's current acceleration is -0.448 m/s^2 at x-direction and -0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::81cb5be798fbe6857f19aa44fda2ea43-048"}},"extra_info":{"index":138,"token":"waymo_e2e::81cb5be798fbe6857f19aa44fda2ea43-048","id":"waymo_e2e::81cb5be798fbe6857f19aa44fda2ea43-048","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.96,-0.00), (8.01,-0.01), (12.11,-0.03), (16.24,-0.06), (20.38,-0.10), (24.50,-0.12), (28.61,-0.14), (32.68,-0.15), (36.71,-0.15), (40.69,-0.16)]\nOption B\n  waypoints xy: [(6.34,0.21), (12.66,0.77), (18.91,1.69), (25.09,2.95), (31.19,4.54), (37.18,6.45), (43.05,8.67), (48.82,11.12), (54.55,13.62), (60.28,16.14)]\nOption C\n  waypoints xy: [(7.24,-0.00), (14.47,0.00), (21.65,0.02), (28.81,0.06), (35.94,0.13), (43.06,0.23), (50.15,0.36), (57.21,0.53), (64.22,0.75), (71.21,1.00)]\nOption D\n  waypoints xy: [(3.51,0.00), (6.58,0.02), (9.15,0.03), (11.13,0.04), (12.45,0.05), (13.14,0.06), (13.37,0.06), (13.41,0.06), (13.43,0.06), (13.51,0.06)]\nOption E\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\nOption F\n  waypoints xy: [(0.22,-0.02), (0.58,-0.06), (1.19,-0.19), (2.08,-0.47), (3.23,-1.03), (4.48,-2.01), (5.64,-3.51), (6.58,-5.53), (7.32,-8.02), (7.95,-10.95)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.163545563718833,"cv_gap":27.35}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"92t9MM4xEm","cam_id":"4_resize","sample_timestamps":["000000003731_000850000000","000000003732_000100000000","000000003732_000350000000","000000003732_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003732_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"92t9MM4xEm","cam_id":"2","sample_timestamps":["000000003731_000100000000","000000003731_000600000000","000000003732_000100000000","000000003732_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003732_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"92t9MM4xEm","cam_id":"7","sample_timestamps":["000000003731_000100000000","000000003731_000600000000","000000003732_000100000000","000000003732_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003732_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 12.300 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and 0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"92t9MM4xEm"}},"extra_info":{"index":139,"token":"92t9MM4xEm","id":"92t9MM4xEm","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.11,-0.03), (12.24,-0.08), (18.41,-0.16), (24.61,-0.27), (30.83,-0.43), (37.06,-0.64), (43.26,-0.90), (49.40,-1.20), (55.46,-1.53), (61.44,-1.90)]\nOption B\n  waypoints xy: [(4.82,0.00), (9.25,0.01), (13.23,0.01), (16.68,0.02), (19.52,0.01), (21.76,-0.00), (23.38,-0.01), (24.45,-0.01), (25.11,-0.01), (25.51,-0.01)]\nOption C\n  waypoints xy: [(2.71,-0.38), (5.15,-1.26), (7.25,-2.68), (8.91,-4.60), (10.09,-6.93), (10.86,-9.57), (11.34,-12.46), (11.68,-15.58), (11.94,-18.90), (12.19,-22.41)]\nOption D\n  waypoints xy: [(1.80,0.50), (3.59,1.47), (5.27,2.93), (6.83,4.82), (8.35,7.00), (9.90,9.35), (11.48,11.81), (13.06,14.37), (14.66,16.99), (16.26,19.64)]\nOption E\n  waypoints xy: [(6.68,-0.01), (13.27,-0.03), (19.74,-0.06), (26.10,-0.10), (32.29,-0.15), (38.29,-0.19), (44.05,-0.22), (49.58,-0.24), (54.89,-0.24), (60.05,-0.22)]\nOption F\n  waypoints xy: [(-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":12.303657992645928,"cv_gap":36.405}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/8f71300fe9ccdcc7347e320a17768e06-079/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/8f71300fe9ccdcc7347e320a17768e06-079/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/8f71300fe9ccdcc7347e320a17768e06-079/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.271 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.201 m/s^2 at x-direction and -0.038 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::8f71300fe9ccdcc7347e320a17768e06-079"}},"extra_info":{"index":140,"token":"waymo_e2e::8f71300fe9ccdcc7347e320a17768e06-079","id":"waymo_e2e::8f71300fe9ccdcc7347e320a17768e06-079","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.58,-0.00), (5.19,-0.00), (7.84,0.00), (10.53,0.02), (13.25,0.04), (15.98,0.06), (18.69,0.09), (21.38,0.11), (24.03,0.13), (26.67,0.14)]\nOption B\n  waypoints xy: [(5.73,-0.00), (11.37,0.00), (16.98,-0.06), (22.53,-0.06), (27.97,-0.06), (33.28,-0.06), (38.49,-0.06), (43.56,-0.01), (48.35,0.04), (52.73,0.09)]\nOption C\n  waypoints xy: [(2.67,-0.11), (5.11,-0.33), (7.22,-0.60), (8.88,-0.84), (10.06,-1.00), (10.78,-1.09), (11.13,-1.13), (11.25,-1.14), (11.28,-1.15), (11.35,-1.16)]\nOption D\n  waypoints xy: [(12.20,0.02), (24.42,0.07), (36.67,0.14), (48.94,0.23), (61.26,0.36), (73.63,0.54), (86.08,0.78), (98.61,1.09), (111.22,1.48), (123.89,1.94)]\nOption E\n  waypoints xy: [(6.11,-0.03), (12.24,-0.08), (18.41,-0.16), (24.61,-0.27), (30.83,-0.43), (37.06,-0.64), (43.26,-0.90), (49.40,-1.20), (55.46,-1.53), (61.44,-1.90)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.27111472192967,"cv_gap":15.331}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"WLVSAHjftb","cam_id":"4_resize","sample_timestamps":["001747729249_000100000000","001747729249_000600000000","001747729250_000100000000","001747729250_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001747729250_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"WLVSAHjftb","cam_id":"2","sample_timestamps":["001747729249_000100000000","001747729249_000600000000","001747729250_000100000000","001747729250_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001747729250_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"WLVSAHjftb","cam_id":"7","sample_timestamps":["001747729249_000100000000","001747729249_000600000000","001747729250_000100000000","001747729250_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001747729250_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"WLVSAHjftb"}},"extra_info":{"index":141,"token":"WLVSAHjftb","id":"WLVSAHjftb","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.86,-0.01), (7.79,-0.01), (11.75,-0.01), (15.72,-0.02), (19.72,-0.02), (23.73,-0.02), (27.73,-0.02), (31.75,-0.02), (35.79,-0.02), (39.87,-0.01)]\nOption B\n  waypoints xy: [(4.18,0.01), (8.35,0.04), (12.51,0.10), (16.69,0.20), (20.88,0.36), (25.11,0.59), (29.35,0.88), (33.62,1.23), (37.92,1.61), (42.25,1.98)]\nOption C\n  waypoints xy: [(0.74,-0.00), (1.19,-0.00), (1.49,-0.00), (1.71,-0.00), (1.88,0.00), (2.03,-0.00), (2.11,-0.00), (2.12,-0.00), (2.15,-0.00), (2.31,-0.00)]\nOption D\n  waypoints xy: [(2.24,0.05), (4.87,0.17), (7.86,0.40), (11.18,0.78), (14.78,1.32), (18.65,2.01), (22.74,2.80), (27.05,3.68), (31.56,4.60), (36.24,5.54)]\nOption E\n  waypoints xy: [(0.90,0.00), (1.82,-0.01), (2.75,-0.00), (3.69,-0.00), (4.62,0.01), (5.53,0.01), (6.41,0.01), (7.27,0.02), (8.11,0.03), (8.94,0.03)]\nOption F\n  waypoints xy: [(5.49,-0.00), (10.95,-0.01), (16.38,-0.01), (21.81,-0.01), (27.23,-0.00), (32.64,0.02), (38.01,0.05), (43.33,0.08), (48.59,0.10), (53.78,0.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.8,"cv_gap":6.669}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/426b39a37107054ba37f3feb8ea52bcd-074/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/426b39a37107054ba37f3feb8ea52bcd-074/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/426b39a37107054ba37f3feb8ea52bcd-074/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.975 m/s at x-direction and -0.009 m/s at y-direction. The ego vehicle's current acceleration is -0.287 m/s^2 at x-direction and -0.008 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::426b39a37107054ba37f3feb8ea52bcd-074"}},"extra_info":{"index":142,"token":"waymo_e2e::426b39a37107054ba37f3feb8ea52bcd-074","id":"waymo_e2e::426b39a37107054ba37f3feb8ea52bcd-074","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.34,-0.01), (4.74,-0.01), (7.21,-0.04), (9.75,-0.08), (12.34,-0.13), (14.97,-0.20), (17.51,-0.25), (19.94,-0.25), (22.29,-0.21), (24.51,-0.11)]\nOption B\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption C\n  waypoints xy: [(14.32,-0.01), (28.60,0.01), (42.85,0.02), (57.06,0.02), (71.23,-0.01), (85.34,-0.10), (99.36,-0.23), (113.31,-0.40), (127.18,-0.60), (140.99,-0.80)]\nOption D\n  waypoints xy: [(4.99,-0.00), (10.01,-0.01), (15.06,-0.02), (20.11,-0.09), (25.21,-0.22), (30.36,-0.37), (35.52,-0.57), (40.66,-0.77), (45.75,-0.95), (50.76,-1.08)]\nOption E\n  waypoints xy: [(8.07,-0.01), (16.13,-0.01), (24.20,-0.00), (32.28,0.01), (40.36,0.04), (48.44,0.06), (56.54,0.09), (64.65,0.11), (72.76,0.14), (80.88,0.17)]\nOption F\n  waypoints xy: [(2.29,-0.00), (4.36,-0.01), (6.21,-0.02), (7.80,-0.02), (9.07,-0.03), (10.01,-0.04), (10.65,-0.04), (11.01,-0.04), (11.17,-0.04), (11.23,-0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.975384378336989,"cv_gap":13.628}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"tim4Mepf6x","cam_id":"4_resize","sample_timestamps":["000000000869_000600000000","000000000870_000100000000","000000000870_000600000000","000000000871_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000871_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"tim4Mepf6x","cam_id":"2","sample_timestamps":["000000000869_000600000000","000000000870_000100000000","000000000870_000600000000","000000000871_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000871_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"tim4Mepf6x","cam_id":"7","sample_timestamps":["000000000869_000600000000","000000000870_000100000000","000000000870_000600000000","000000000871_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000871_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.600 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"tim4Mepf6x"}},"extra_info":{"index":143,"token":"tim4Mepf6x","id":"tim4Mepf6x","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.48,-0.06), (4.71,-0.17), (6.68,-0.29), (8.35,-0.40), (9.69,-0.50), (10.73,-0.58), (11.48,-0.64), (11.97,-0.67), (12.24,-0.70), (12.41,-0.73)]\nOption B\n  waypoints xy: [(10.53,0.07), (21.13,0.26), (31.79,0.59), (42.52,1.04), (53.31,1.57), (64.15,2.19), (75.03,2.88), (85.94,3.67), (96.87,4.54), (107.83,5.46)]\nOption C\n  waypoints xy: [(4.70,-0.01), (9.38,-0.01), (14.02,-0.01), (18.63,-0.02), (23.21,-0.03), (27.75,-0.05), (32.26,-0.07), (36.71,-0.08), (41.08,-0.07), (45.29,-0.02)]\nOption D\n  waypoints xy: [(4.45,-0.01), (9.25,-0.02), (14.39,-0.03), (19.83,-0.06), (25.44,-0.10), (31.17,-0.19), (36.93,-0.30), (42.69,-0.42), (48.40,-0.51), (53.97,-0.58)]\nOption E\n  waypoints xy: [(2.71,0.02), (5.47,0.05), (8.26,0.09), (11.07,0.13), (13.91,0.18), (16.76,0.23), (19.60,0.28), (22.42,0.32), (25.25,0.35), (28.06,0.36)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.600892785976178,"cv_gap":16.149}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Yue1Zzkm95","cam_id":"4_resize","sample_timestamps":["000000013099_000300000000","000000013099_000800000000","000000013100_000300000000","000000013100_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000013100_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Yue1Zzkm95","cam_id":"2","sample_timestamps":["000000013099_000300000000","000000013099_000800000000","000000013100_000300000000","000000013100_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000013100_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Yue1Zzkm95","cam_id":"7","sample_timestamps":["000000013099_000300000000","000000013099_000800000000","000000013100_000300000000","000000013100_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000013100_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.400 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"Yue1Zzkm95"}},"extra_info":{"index":144,"token":"Yue1Zzkm95","id":"Yue1Zzkm95","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.60,-0.04), (15.24,-0.13), (22.93,-0.29), (30.65,-0.53), (38.37,-0.85), (46.06,-1.25), (53.67,-1.74), (61.18,-2.32), (68.48,-3.00), (75.48,-3.75)]\nOption B\n  waypoints xy: [(2.03,-0.00), (4.19,-0.01), (6.45,-0.01), (8.79,-0.02), (11.18,-0.03), (13.56,-0.04), (15.87,-0.05), (18.11,-0.06), (20.29,-0.08), (22.37,-0.10)]\nOption C\n  waypoints xy: [(5.74,-0.00), (11.42,0.00), (17.00,0.01), (22.52,0.01), (27.96,0.02), (33.32,0.03), (38.60,0.05), (43.81,0.09), (48.96,0.15), (54.09,0.22)]\nOption D\n  waypoints xy: [(6.76,-0.01), (13.52,-0.02), (20.30,-0.04), (27.06,-0.07), (33.83,-0.12), (40.59,-0.18), (47.34,-0.26), (54.07,-0.36), (60.74,-0.48), (67.38,-0.62)]\nOption E\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption F\n  waypoints xy: [(1.74,-0.00), (3.38,-0.01), (4.94,-0.02), (6.43,-0.04), (7.83,-0.05), (9.11,-0.06), (10.22,-0.07), (11.16,-0.07), (11.94,-0.07), (12.58,-0.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.5,"cv_gap":10.186}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/763993e6a61f69b620f0edeb4eb221b0-118/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/763993e6a61f69b620f0edeb4eb221b0-118/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/763993e6a61f69b620f0edeb4eb221b0-118/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 3.081 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.635 m/s^2 at x-direction and 0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::763993e6a61f69b620f0edeb4eb221b0-118"}},"extra_info":{"index":145,"token":"waymo_e2e::763993e6a61f69b620f0edeb4eb221b0-118","id":"waymo_e2e::763993e6a61f69b620f0edeb4eb221b0-118","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.97,-0.03), (8.00,-0.09), (12.07,-0.20), (16.18,-0.35), (20.34,-0.52), (24.51,-0.72), (28.69,-0.92), (32.86,-1.12), (37.00,-1.31), (41.09,-1.48)]\nOption B\n  waypoints xy: [(1.53,-0.00), (3.07,-0.01), (4.62,-0.02), (6.15,-0.04), (7.67,-0.05), (9.17,-0.07), (10.68,-0.09), (12.19,-0.12), (13.71,-0.14), (15.26,-0.17)]\nOption C\n  waypoints xy: [(5.30,0.07), (10.42,0.20), (15.37,0.33), (20.16,0.48), (24.87,0.64), (29.46,0.79), (33.95,0.93), (38.30,1.06), (42.46,1.19), (46.57,1.32)]\nOption D\n  waypoints xy: [(5.28,0.03), (10.62,0.12), (16.01,0.26), (21.45,0.48), (26.92,0.74), (32.43,1.06), (37.95,1.44), (43.47,1.86), (48.98,2.33), (54.44,2.83)]\nOption E\n  waypoints xy: [(1.12,-0.02), (1.81,-0.03), (2.13,-0.04), (2.22,-0.04), (2.23,-0.04), (2.23,-0.04), (2.25,-0.04), (2.35,-0.04), (2.69,-0.05), (3.35,-0.07)]\nOption F\n  waypoints xy: [(5.43,-0.02), (10.82,-0.04), (16.18,-0.07), (21.47,-0.11), (26.68,-0.17), (31.78,-0.23), (36.72,-0.29), (41.49,-0.35), (46.03,-0.41), (50.33,-0.47)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.0811546329768182,"cv_gap":12.013}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/eff9395cf5237e8323f0facc8fbbd205-208/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/eff9395cf5237e8323f0facc8fbbd205-208/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/eff9395cf5237e8323f0facc8fbbd205-208/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.835 m/s at x-direction and -0.016 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and 0.055 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::eff9395cf5237e8323f0facc8fbbd205-208"}},"extra_info":{"index":146,"token":"waymo_e2e::eff9395cf5237e8323f0facc8fbbd205-208","id":"waymo_e2e::eff9395cf5237e8323f0facc8fbbd205-208","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.30,-0.00), (4.09,-0.00), (5.32,-0.00), (5.99,-0.00), (6.22,-0.00), (6.23,-0.00), (6.23,-0.00), (6.23,0.00), (6.25,0.00), (6.33,0.00)]\nOption B\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption C\n  waypoints xy: [(5.49,0.04), (11.05,0.15), (16.65,0.35), (22.26,0.64), (27.89,1.04), (33.52,1.56), (39.15,2.19), (44.73,2.96), (50.26,3.86), (55.73,4.88)]\nOption D\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption E\n  waypoints xy: [(5.46,0.17), (10.92,0.60), (16.36,1.33), (21.78,2.38), (27.13,3.75), (32.36,5.45), (37.43,7.47), (42.28,9.79), (46.89,12.37), (51.27,15.18)]\nOption F\n  waypoints xy: [(9.53,-0.07), (19.08,-0.31), (28.66,-0.69), (38.25,-1.22), (47.87,-1.85), (57.50,-2.61), (67.15,-3.44), (76.81,-4.34), (86.48,-5.33), (96.16,-6.37)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.835441181526138,"cv_gap":17.639}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/8a8d3d1cbbaa43e0aa1b79f2f0a54570-105/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/8a8d3d1cbbaa43e0aa1b79f2f0a54570-105/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/8a8d3d1cbbaa43e0aa1b79f2f0a54570-105/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.662 m/s at x-direction and -0.020 m/s at y-direction. The ego vehicle's current acceleration is -0.331 m/s^2 at x-direction and 0.107 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::8a8d3d1cbbaa43e0aa1b79f2f0a54570-105"}},"extra_info":{"index":147,"token":"waymo_e2e::8a8d3d1cbbaa43e0aa1b79f2f0a54570-105","id":"waymo_e2e::8a8d3d1cbbaa43e0aa1b79f2f0a54570-105","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.01,0.00), (0.03,0.00), (0.07,0.00), (0.10,0.00)]\nOption B\n  waypoints xy: [(1.37,-0.34), (2.73,-1.01), (4.03,-2.03), (5.23,-3.41), (6.34,-5.12), (7.41,-7.11), (8.47,-9.34), (9.56,-11.77), (10.67,-14.37), (11.82,-17.08)]\nOption C\n  waypoints xy: [(4.51,-0.00), (8.63,-0.01), (12.25,-0.03), (15.28,-0.04), (17.63,-0.06), (19.27,-0.07), (20.19,-0.08), (20.58,-0.09), (20.70,-0.09), (20.75,-0.09)]\nOption D\n  waypoints xy: [(6.93,0.01), (13.79,0.05), (20.55,0.13), (27.21,0.24), (33.74,0.39), (40.13,0.58), (46.40,0.81), (52.54,1.05), (58.56,1.30), (64.44,1.55)]\nOption E\n  waypoints xy: [(0.53,0.02), (1.36,0.11), (2.58,0.34), (4.18,0.89), (6.06,1.91), (8.02,3.54), (9.84,5.81), (11.39,8.69), (12.61,12.04), (13.48,15.78)]\nOption F\n  waypoints xy: [(4.85,-0.00), (9.70,-0.01), (14.52,-0.03), (19.33,-0.05), (24.13,-0.07), (28.93,-0.09), (33.75,-0.11), (38.58,-0.12), (43.44,-0.14), (48.32,-0.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.661934493386939,"cv_gap":27.589}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"YQ9kMxEwbb","cam_id":"4_resize","sample_timestamps":["001736307106_000700000000","001736307107_000200000000","001736307107_000700000000","001736307108_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001736307108_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"YQ9kMxEwbb","cam_id":"2","sample_timestamps":["001736307106_000700000000","001736307107_000200000000","001736307107_000700000000","001736307108_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001736307108_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"YQ9kMxEwbb","cam_id":"7","sample_timestamps":["001736307106_000700000000","001736307107_000200000000","001736307107_000700000000","001736307108_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001736307108_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.600 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"YQ9kMxEwbb"}},"extra_info":{"index":148,"token":"YQ9kMxEwbb","id":"YQ9kMxEwbb","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.36,0.00), (2.64,0.01), (3.82,0.02), (4.89,0.04), (5.92,0.06), (7.00,0.08), (8.16,0.09), (9.41,0.10), (10.71,0.09), (12.07,0.07)]\nOption B\n  waypoints xy: [(1.05,-0.00), (2.07,-0.00), (3.02,-0.00), (3.85,-0.01), (4.51,-0.00), (4.97,-0.00), (5.24,-0.00), (5.37,-0.00), (5.45,-0.00), (5.54,0.00)]\nOption C\n  waypoints xy: [(4.13,0.06), (8.33,0.20), (12.56,0.42), (16.82,0.72), (21.09,1.08), (25.35,1.45), (29.61,1.80), (33.83,2.08), (38.00,2.28), (42.09,2.44)]\nOption D\n  waypoints xy: [(4.39,-0.01), (8.94,-0.03), (13.67,-0.07), (18.48,-0.13), (23.34,-0.21), (28.25,-0.32), (33.19,-0.45), (38.16,-0.60), (43.09,-0.74), (47.96,-0.88)]\nOption E\n  waypoints xy: [(4.68,-0.01), (9.48,-0.02), (14.37,-0.04), (19.37,-0.06), (24.47,-0.07), (29.65,-0.08), (34.89,-0.09), (40.17,-0.10), (45.46,-0.11), (50.77,-0.12)]\nOption F\n  waypoints xy: [(3.37,-0.08), (6.83,-0.25), (10.36,-0.49), (13.98,-0.79), (17.67,-1.16), (21.44,-1.56), (25.28,-2.00), (29.19,-2.49), (33.17,-3.01), (37.21,-3.56)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.4,"cv_gap":6.321}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/b8c45cb3e0e4376b58d36f292e5ec67c-106/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/b8c45cb3e0e4376b58d36f292e5ec67c-106/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/b8c45cb3e0e4376b58d36f292e5ec67c-106/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.047 m/s at x-direction and 0.001 m/s at y-direction. The ego vehicle's current acceleration is -0.196 m/s^2 at x-direction and -0.028 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b8c45cb3e0e4376b58d36f292e5ec67c-106"}},"extra_info":{"index":149,"token":"waymo_e2e::b8c45cb3e0e4376b58d36f292e5ec67c-106","id":"waymo_e2e::b8c45cb3e0e4376b58d36f292e5ec67c-106","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.99,-0.04), (7.50,-0.09), (10.56,-0.14), (13.11,-0.19), (15.09,-0.21), (16.47,-0.23), (17.31,-0.24), (17.70,-0.25), (17.83,-0.25), (17.84,-0.25)]\nOption B\n  waypoints xy: [(7.14,-0.02), (14.28,-0.06), (21.40,-0.12), (28.51,-0.19), (35.60,-0.28), (42.68,-0.37), (49.76,-0.45), (56.83,-0.55), (63.88,-0.65), (70.91,-0.75)]\nOption C\n  waypoints xy: [(6.59,-0.19), (13.23,-0.62), (20.00,-1.23), (26.94,-1.92), (34.06,-2.63), (41.32,-3.34), (48.66,-4.04), (56.02,-4.72), (63.37,-5.39), (70.71,-6.10)]\nOption D\n  waypoints xy: [(4.42,-0.01), (8.91,-0.03), (13.41,-0.05), (17.95,-0.06), (22.50,-0.07), (27.08,-0.06), (31.68,-0.06), (36.30,-0.05), (40.93,-0.06), (45.52,-0.09)]\nOption E\n  waypoints xy: [(1.56,-0.39), (3.07,-1.11), (4.46,-2.15), (5.70,-3.45), (6.78,-4.94), (7.74,-6.53), (8.66,-8.18), (9.56,-9.91), (10.49,-11.70), (11.45,-13.54)]\nOption F\n  waypoints xy: [(1.37,-0.34), (2.67,-0.99), (3.84,-1.93), (4.87,-3.17), (5.73,-4.66), (6.48,-6.39), (7.17,-8.33), (7.85,-10.48), (8.54,-12.82), (9.27,-15.33)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.047420561097775,"cv_gap":27.927}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-107/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-107/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-107/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 8.724 m/s at x-direction and -0.036 m/s at y-direction. The ego vehicle's current acceleration is -0.409 m/s^2 at x-direction and 0.007 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-107"}},"extra_info":{"index":150,"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-107","id":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-107","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.34,0.00), (8.69,0.01), (13.05,0.01), (17.43,0.00), (21.83,-0.01), (26.25,-0.03), (30.69,-0.05), (35.12,-0.08), (39.55,-0.10), (43.93,-0.11)]\nOption B\n  waypoints xy: [(3.72,-0.02), (7.03,-0.05), (9.85,-0.09), (12.11,-0.13), (13.73,-0.17), (14.71,-0.20), (15.16,-0.22), (15.29,-0.22), (15.31,-0.23), (15.35,-0.23)]\nOption C\n  waypoints xy: [(0.88,-0.31), (1.74,-0.79), (2.64,-1.46), (3.59,-2.31), (4.60,-3.36), (5.71,-4.60), (6.86,-6.05), (8.01,-7.71), (9.19,-9.57), (10.44,-11.58)]\nOption D\n  waypoints xy: [(1.09,-0.10), (2.30,-0.38), (3.54,-0.89), (4.77,-1.70), (5.91,-2.80), (6.93,-4.20), (7.80,-5.86), (8.55,-7.76), (9.19,-9.81), (9.77,-11.95)]\nOption E\n  waypoints xy: [(4.55,0.00), (9.45,0.01), (14.66,0.03), (20.13,0.07), (25.85,0.12), (31.78,0.17), (37.90,0.23), (44.16,0.30), (50.53,0.37), (56.97,0.45)]\nOption F\n  waypoints xy: [(12.20,0.02), (24.42,0.07), (36.67,0.14), (48.94,0.23), (61.26,0.36), (73.63,0.54), (86.08,0.78), (98.61,1.09), (111.22,1.48), (123.89,1.94)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.723813150145231,"cv_gap":28.072}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/8a8d3d1cbbaa43e0aa1b79f2f0a54570-106/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/8a8d3d1cbbaa43e0aa1b79f2f0a54570-106/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/8a8d3d1cbbaa43e0aa1b79f2f0a54570-106/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.529 m/s at x-direction and -0.017 m/s at y-direction. The ego vehicle's current acceleration is -0.327 m/s^2 at x-direction and 0.105 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::8a8d3d1cbbaa43e0aa1b79f2f0a54570-106"}},"extra_info":{"index":151,"token":"waymo_e2e::8a8d3d1cbbaa43e0aa1b79f2f0a54570-106","id":"waymo_e2e::8a8d3d1cbbaa43e0aa1b79f2f0a54570-106","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.72,-0.00), (9.47,-0.00), (14.23,0.00), (19.00,0.01), (23.78,0.01), (28.55,0.02), (33.32,0.02), (38.09,0.03), (42.85,0.03), (47.59,0.04)]\nOption B\n  waypoints xy: [(1.47,-0.31), (2.99,-0.89), (4.54,-1.74), (6.12,-2.83), (7.73,-4.14), (9.38,-5.63), (11.06,-7.28), (12.77,-9.09), (14.53,-11.04), (16.32,-13.11)]\nOption C\n  waypoints xy: [(4.71,0.00), (8.92,0.01), (12.54,0.01), (15.33,0.02), (17.16,0.02), (18.14,0.03), (18.79,0.03), (19.26,0.03), (19.83,0.03), (20.96,0.02)]\nOption D\n  waypoints xy: [(5.76,0.00), (11.49,0.00), (17.21,0.01), (22.93,0.03), (28.63,0.06), (34.34,0.10), (40.03,0.14), (45.71,0.20), (51.37,0.25), (56.98,0.30)]\nOption E\n  waypoints xy: [(1.08,0.03), (2.50,0.16), (4.21,0.46), (6.14,1.08), (8.16,2.12), (10.12,3.67), (11.89,5.72), (13.33,8.25), (14.39,11.17), (15.13,14.36)]\nOption F\n  waypoints xy: [(5.81,0.01), (11.65,0.01), (17.53,0.02), (23.40,0.03), (29.28,0.05), (35.18,0.07), (41.13,0.10), (47.15,0.14), (53.20,0.19), (59.26,0.23)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.528644790975072,"cv_gap":27.885}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"OuF2i7Icf8","cam_id":"4_resize","sample_timestamps":["000000001383_000100000000","000000001383_000600000000","000000001384_000100000000","000000001384_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001384_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OuF2i7Icf8","cam_id":"2","sample_timestamps":["000000001383_000100000000","000000001383_000600000000","000000001384_000100000000","000000001384_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001384_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OuF2i7Icf8","cam_id":"7","sample_timestamps":["000000001383_000100000000","000000001383_000600000000","000000001384_000100000000","000000001384_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001384_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.200 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"OuF2i7Icf8"}},"extra_info":{"index":152,"token":"OuF2i7Icf8","id":"OuF2i7Icf8","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.18,-0.01), (8.46,-0.02), (12.82,-0.02), (17.26,0.01), (21.76,0.05), (26.34,0.09), (30.99,0.11), (35.71,0.10), (40.50,0.04), (45.32,-0.11)]\nOption B\n  waypoints xy: [(3.66,0.18), (7.53,0.49), (11.61,0.89), (15.89,1.38), (20.34,1.95), (24.91,2.64), (29.60,3.30), (34.42,3.88), (39.37,4.40), (44.45,4.91)]\nOption C\n  waypoints xy: [(5.21,0.00), (10.47,0.03), (15.80,0.07), (21.16,0.12), (26.55,0.17), (31.93,0.20), (37.32,0.23), (42.71,0.25), (48.09,0.27), (53.46,0.30)]\nOption D\n  waypoints xy: [(2.78,0.51), (5.89,1.63), (9.16,3.51), (12.42,6.21), (15.63,9.66), (18.64,13.84), (21.46,18.69), (24.30,24.02), (27.27,29.73), (30.33,35.77)]\nOption E\n  waypoints xy: [(1.89,0.08), (3.56,0.24), (4.96,0.45), (6.05,0.66), (6.80,0.83), (7.30,0.95), (7.60,1.03), (7.83,1.08), (8.09,1.14), (8.48,1.22)]\nOption F\n  waypoints xy: [(2.55,-0.00), (5.11,-0.00), (7.68,-0.00), (10.26,-0.00), (12.83,-0.06), (15.39,-0.12), (17.97,-0.21), (20.61,-0.30), (23.29,-0.39), (25.98,-0.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.200961449578338,"cv_gap":17.738}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"vuSv8b6j5J","cam_id":"4_resize","sample_timestamps":["001749569307_000700000000","001749569308_000200000000","001749569308_000700000000","001749569309_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001749569309_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"vuSv8b6j5J","cam_id":"2","sample_timestamps":["001749569307_000700000000","001749569308_000200000000","001749569308_000700000000","001749569309_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001749569309_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"vuSv8b6j5J","cam_id":"7","sample_timestamps":["001749569307_000700000000","001749569308_000200000000","001749569308_000700000000","001749569309_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001749569309_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is 0.500 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"vuSv8b6j5J"}},"extra_info":{"index":153,"token":"vuSv8b6j5J","id":"vuSv8b6j5J","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.75,-0.00), (1.50,-0.01), (2.24,-0.01), (2.98,-0.02), (3.73,-0.02), (4.48,-0.03), (5.24,-0.05), (6.01,-0.06), (6.79,-0.08), (7.59,-0.10)]\nOption B\n  waypoints xy: [(4.14,-0.02), (8.29,-0.08), (12.44,-0.19), (16.59,-0.34), (20.72,-0.54), (24.84,-0.79), (28.94,-1.08), (33.02,-1.40), (37.08,-1.75), (41.10,-2.10)]\nOption C\n  waypoints xy: [(4.61,-0.02), (9.22,-0.07), (13.75,-0.12), (18.11,-0.17), (22.27,-0.21), (26.34,-0.26), (30.45,-0.28), (34.66,-0.26), (39.00,-0.25), (43.47,-0.28)]\nOption D\n  waypoints xy: [(0.88,-0.00), (1.75,-0.01), (2.57,-0.01), (3.24,-0.02), (3.69,-0.02), (3.92,-0.02), (4.00,-0.02), (4.01,-0.02), (4.02,-0.02), (4.05,-0.03)]\nOption E\n  waypoints xy: [(4.35,-0.02), (8.71,-0.07), (13.09,-0.14), (17.47,-0.24), (21.85,-0.35), (26.22,-0.49), (30.56,-0.64), (34.84,-0.80), (39.05,-0.96), (43.16,-1.11)]\nOption F\n  waypoints xy: [(9.34,0.10), (18.68,0.30), (28.04,0.40), (37.42,0.51), (46.80,0.61), (56.21,0.71), (65.65,0.82), (75.12,0.92), (84.62,0.93), (94.16,1.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5,"cv_gap":3.526}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/4259b098211c82350826ffa4ef42dba8-159/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/4259b098211c82350826ffa4ef42dba8-159/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/4259b098211c82350826ffa4ef42dba8-159/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.931 m/s at x-direction and -0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.750 m/s^2 at x-direction and -0.024 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::4259b098211c82350826ffa4ef42dba8-159"}},"extra_info":{"index":154,"token":"waymo_e2e::4259b098211c82350826ffa4ef42dba8-159","id":"waymo_e2e::4259b098211c82350826ffa4ef42dba8-159","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.54,0.00), (1.37,0.03), (2.45,0.17), (3.72,0.54), (5.07,1.27), (6.35,2.48), (7.40,4.19), (8.07,6.34), (8.40,8.86), (8.58,11.67)]\nOption B\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption C\n  waypoints xy: [(4.46,0.00), (8.93,0.01), (13.40,0.02), (17.86,0.03), (22.31,0.05), (26.77,0.06), (31.22,0.07), (35.67,0.07), (40.12,0.06), (44.58,0.05)]\nOption D\n  waypoints xy: [(5.95,-0.02), (11.95,-0.07), (17.99,-0.14), (24.03,-0.21), (30.11,-0.27), (36.26,-0.30), (42.50,-0.34), (48.76,-0.39), (55.01,-0.45), (61.26,-0.48)]\nOption E\n  waypoints xy: [(4.03,-0.03), (7.25,-0.08), (9.87,-0.13), (11.88,-0.17), (13.28,-0.19), (14.02,-0.21), (14.32,-0.21), (14.34,-0.21), (14.35,-0.20), (14.35,-0.20)]\nOption F\n  waypoints xy: [(7.09,-0.01), (14.17,-0.03), (21.23,-0.05), (28.25,-0.07), (35.19,-0.07), (42.04,-0.06), (48.86,-0.03), (55.67,0.01), (62.47,0.07), (69.28,0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.931032417894151,"cv_gap":30.292}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"FWPTJskppX","cam_id":"4_resize","sample_timestamps":["000000002153_000600000000","000000002154_000100000000","000000002154_000600000000","000000002155_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002155_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"FWPTJskppX","cam_id":"2","sample_timestamps":["000000002153_000600000000","000000002154_000100000000","000000002154_000600000000","000000002155_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002155_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"FWPTJskppX","cam_id":"7","sample_timestamps":["000000002153_000600000000","000000002154_000100000000","000000002154_000600000000","000000002155_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002155_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with a deceleration**. The ego vehicle's current velocity is 3.700 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is 0.200 m/s^2 at x-direction and 0.600 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"FWPTJskppX"}},"extra_info":{"index":155,"token":"FWPTJskppX","id":"FWPTJskppX","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.79,-0.04), (13.45,-0.13), (19.94,-0.29), (26.27,-0.51), (32.39,-0.77), (38.29,-1.05), (43.97,-1.36), (49.41,-1.68), (54.62,-1.99), (59.61,-2.29)]\nOption B\n  waypoints xy: [(1.89,0.08), (3.56,0.24), (4.96,0.45), (6.05,0.66), (6.80,0.83), (7.30,0.95), (7.60,1.03), (7.83,1.08), (8.09,1.14), (8.48,1.22)]\nOption C\n  waypoints xy: [(4.58,-0.15), (9.14,-0.45), (13.66,-0.84), (18.14,-1.26), (22.54,-1.70), (26.78,-2.13), (30.86,-2.55), (34.86,-2.96), (38.76,-3.33), (42.54,-3.69)]\nOption D\n  waypoints xy: [(1.95,-0.02), (3.90,-0.08), (5.84,-0.18), (7.73,-0.31), (9.58,-0.49), (11.36,-0.70), (13.09,-0.95), (14.77,-1.22), (16.40,-1.52), (17.97,-1.83)]\nOption E\n  waypoints xy: [(3.19,0.64), (6.40,2.02), (9.55,4.14), (12.55,6.92), (15.47,10.23), (18.39,13.92), (21.39,17.90), (24.48,22.09), (27.65,26.43), (30.88,30.85)]\nOption F\n  waypoints xy: [(6.43,0.00), (12.80,0.00), (19.10,0.00), (25.37,0.00), (31.57,0.00), (37.71,0.07), (43.81,0.07), (49.85,0.13), (55.81,0.13), (61.76,0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.7121422386541174,"cv_gap":11.247}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-186/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-186/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-186/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 6.762 m/s at x-direction and -0.117 m/s at y-direction. The ego vehicle's current acceleration is 0.499 m/s^2 at x-direction and 0.828 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-186"}},"extra_info":{"index":156,"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-186","id":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-186","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.40,-0.02), (6.80,-0.06), (10.20,-0.12), (13.60,-0.19), (17.01,-0.26), (20.42,-0.32), (23.83,-0.38), (27.24,-0.45), (30.65,-0.52), (34.07,-0.60)]\nOption B\n  waypoints xy: [(4.08,-0.03), (8.25,-0.09), (12.47,-0.16), (16.71,-0.24), (20.90,-0.32), (24.98,-0.39), (28.93,-0.46), (32.74,-0.53), (36.40,-0.61), (39.89,-0.69)]\nOption C\n  waypoints xy: [(4.81,0.02), (9.66,0.03), (14.55,0.02), (19.46,-0.03), (24.34,-0.17), (29.11,-0.36), (33.76,-0.58), (38.26,-0.83), (42.48,-1.09), (46.40,-1.34)]\nOption D\n  waypoints xy: [(3.61,0.07), (7.34,0.24), (11.16,0.47), (15.07,0.75), (19.04,1.07), (23.09,1.40), (27.19,1.73), (31.36,2.03), (35.57,2.27), (39.82,2.48)]\nOption E\n  waypoints xy: [(2.48,0.66), (5.01,2.13), (7.31,4.47), (9.24,7.57), (10.77,11.33), (11.93,15.64), (12.92,20.40), (13.84,25.54), (14.76,30.98), (15.71,36.67)]\nOption F\n  waypoints xy: [(4.85,0.04), (9.67,0.12), (14.44,0.24), (19.18,0.41), (23.87,0.63), (28.53,0.90), (33.16,1.22), (37.74,1.58), (42.26,1.98), (46.73,2.41)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.762572602909962,"cv_gap":52.831}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"HLXFdE9iO5","cam_id":"4_resize","sample_timestamps":["000000010144_000550000000","000000010144_000800000000","000000010145_000050000000","000000010145_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000010145_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HLXFdE9iO5","cam_id":"2","sample_timestamps":["000000010143_000800000000","000000010144_000300000000","000000010144_000800000000","000000010145_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000010145_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HLXFdE9iO5","cam_id":"7","sample_timestamps":["000000010143_000800000000","000000010144_000300000000","000000010144_000800000000","000000010145_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000010145_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn right with an acceleration**. The ego vehicle's current velocity is 3.600 m/s at x-direction and 0.800 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and -1.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"HLXFdE9iO5"}},"extra_info":{"index":157,"token":"HLXFdE9iO5","id":"HLXFdE9iO5","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.89,-0.00), (11.72,0.00), (17.41,0.01), (22.94,0.02), (28.32,0.04), (33.56,0.06), (38.63,0.07), (43.53,0.08), (48.24,0.09), (52.75,0.09)]\nOption B\n  waypoints xy: [(1.81,0.07), (3.54,0.31), (5.19,0.66), (6.87,1.03), (8.64,1.40), (10.47,1.83), (12.32,2.34), (14.18,2.84), (16.00,3.39), (17.82,3.93)]\nOption C\n  waypoints xy: [(1.89,-0.40), (3.73,-1.22), (5.39,-2.50), (6.81,-4.15), (8.02,-6.11), (9.08,-8.29), (10.02,-10.62), (10.88,-13.03), (11.70,-15.50), (12.52,-18.05)]\nOption D\n  waypoints xy: [(1.49,-0.01), (3.14,-0.02), (4.95,-0.05), (6.95,-0.08), (9.11,-0.13), (11.45,-0.20), (13.93,-0.27), (16.54,-0.35), (19.23,-0.43), (21.96,-0.51)]\nOption E\n  waypoints xy: [(12.80,0.03), (25.59,0.09), (38.42,0.18), (51.34,0.29), (64.32,0.44), (77.34,0.64), (90.34,0.92), (103.27,1.25), (116.15,1.63), (128.98,2.10)]\nOption F\n  waypoints xy: [(1.49,0.01), (3.20,0.05), (5.15,0.11), (7.30,0.19), (9.57,0.27), (11.94,0.34), (14.37,0.42), (16.85,0.52), (19.37,0.64), (21.96,0.77)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.687817782917155,"cv_gap":22.794}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"aDX5rbRyby","cam_id":"4_resize","sample_timestamps":["000000006389_000600000000","000000006390_000100000000","000000006390_000600000000","000000006391_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006391_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"aDX5rbRyby","cam_id":"2","sample_timestamps":["000000006389_000600000000","000000006390_000100000000","000000006390_000600000000","000000006391_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006391_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"aDX5rbRyby","cam_id":"7","sample_timestamps":["000000006389_000600000000","000000006390_000100000000","000000006390_000600000000","000000006391_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006391_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn left with an acceleration**. The ego vehicle's current velocity is 2.600 m/s at x-direction and -0.400 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and 0.900 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"aDX5rbRyby"}},"extra_info":{"index":158,"token":"aDX5rbRyby","id":"aDX5rbRyby","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.77,0.04), (1.50,0.14), (2.15,0.29), (2.76,0.48), (3.40,0.71), (4.06,0.96), (4.63,1.17), (5.08,1.35), (5.57,1.55), (6.12,1.77)]\nOption B\n  waypoints xy: [(1.34,-0.05), (2.70,-0.27), (4.05,-0.61), (5.38,-0.96), (6.66,-1.28), (7.95,-1.52), (9.22,-1.61), (10.56,-1.62), (11.97,-1.51), (13.45,-1.37)]\nOption C\n  waypoints xy: [(6.59,-0.00), (13.05,-0.01), (19.32,-0.01), (25.31,-0.00), (30.97,0.02), (36.24,0.07), (41.11,0.14), (45.58,0.23), (49.65,0.32), (53.29,0.41)]\nOption D\n  waypoints xy: [(3.85,-0.11), (7.77,-0.35), (11.69,-0.72), (15.55,-1.24), (19.27,-1.88), (22.77,-2.59), (26.03,-3.36), (29.03,-4.14), (31.79,-4.93), (34.33,-5.69)]\nOption E\n  waypoints xy: [(5.26,-0.02), (10.49,-0.06), (15.70,-0.13), (20.87,-0.26), (26.03,-0.49), (31.13,-0.84), (36.12,-1.30), (40.96,-1.86), (45.64,-2.47), (50.15,-3.11)]\nOption F\n  waypoints xy: [(7.54,-0.01), (15.03,-0.04), (22.44,-0.09), (29.72,-0.15), (36.84,-0.21), (43.79,-0.27), (50.56,-0.33), (57.15,-0.38), (63.55,-0.42), (69.79,-0.46)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.6305892875931813,"cv_gap":8.385}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Itdgs0mFNo","cam_id":"4_resize","sample_timestamps":["000000016311_000950000000","000000016312_000200000000","000000016312_000450000000","000000016312_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000016312_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Itdgs0mFNo","cam_id":"2","sample_timestamps":["000000016311_000200000000","000000016311_000700000000","000000016312_000200000000","000000016312_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000016312_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Itdgs0mFNo","cam_id":"7","sample_timestamps":["000000016311_000200000000","000000016311_000700000000","000000016312_000200000000","000000016312_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000016312_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with an acceleration**. The ego vehicle's current velocity is 4.900 m/s at x-direction and -0.200 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and 0.600 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"Itdgs0mFNo"}},"extra_info":{"index":159,"token":"Itdgs0mFNo","id":"Itdgs0mFNo","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.28,-0.06), (12.33,-0.16), (17.94,-0.19), (23.09,0.02), (27.75,0.48), (31.89,1.06), (35.44,1.56), (38.39,1.95), (40.69,2.18), (42.35,2.31)]\nOption B\n  waypoints xy: [(6.64,-0.02), (13.16,-0.06), (19.54,-0.12), (25.73,-0.19), (31.71,-0.25), (37.44,-0.30), (42.93,-0.35), (48.19,-0.38), (53.25,-0.42), (58.10,-0.45)]\nOption C\n  waypoints xy: [(4.01,0.09), (8.20,0.19), (12.57,0.39), (17.16,0.65), (21.95,0.92), (26.92,1.26), (32.13,1.56), (37.52,1.93), (43.07,2.31), (48.74,2.76)]\nOption D\n  waypoints xy: [(2.36,-0.02), (4.79,-0.08), (7.28,-0.15), (9.78,-0.24), (12.29,-0.34), (14.80,-0.45), (17.29,-0.55), (19.76,-0.66), (22.24,-0.77), (24.72,-0.89)]\nOption E\n  waypoints xy: [(2.12,-0.00), (3.83,-0.01), (5.10,-0.01), (5.91,-0.01), (6.32,-0.02), (6.44,-0.02), (6.45,-0.02), (6.45,-0.02), (6.49,-0.02), (6.65,-0.02)]\nOption F\n  waypoints xy: [(3.06,0.53), (6.10,1.70), (9.01,3.54), (11.71,6.02), (14.17,9.05), (16.42,12.52), (18.54,16.34), (20.64,20.42), (22.76,24.71), (24.93,29.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.904079934095692,"cv_gap":17.681}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"LbdruKrGnq","cam_id":"4_resize","sample_timestamps":["000000008129_000100000000","000000008129_000600000000","000000008130_000100000000","000000008130_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000008130_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LbdruKrGnq","cam_id":"2","sample_timestamps":["000000008129_000100000000","000000008129_000600000000","000000008130_000100000000","000000008130_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000008130_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LbdruKrGnq","cam_id":"7","sample_timestamps":["000000008129_000100000000","000000008129_000600000000","000000008130_000100000000","000000008130_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000008130_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.500 m/s at x-direction and -0.200 m/s at y-direction. The ego vehicle's current acceleration is 0.400 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"LbdruKrGnq"}},"extra_info":{"index":160,"token":"LbdruKrGnq","id":"LbdruKrGnq","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.69,-0.03), (3.41,-0.08), (5.13,-0.14), (6.85,-0.21), (8.60,-0.30), (10.38,-0.39), (12.16,-0.49), (13.93,-0.60), (15.68,-0.70), (17.41,-0.80)]\nOption B\n  waypoints xy: [(4.63,-0.02), (9.63,-0.05), (14.98,-0.10), (20.65,-0.17), (26.60,-0.26), (32.82,-0.35), (39.26,-0.45), (45.88,-0.55), (52.68,-0.65), (59.62,-0.76)]\nOption C\n  waypoints xy: [(5.36,-0.02), (10.74,-0.04), (16.18,-0.07), (21.62,-0.08), (26.94,-0.08), (32.25,-0.08), (37.61,-0.09), (43.03,-0.08), (48.50,-0.04), (54.00,0.03)]\nOption D\n  waypoints xy: [(5.30,-0.01), (10.62,-0.01), (15.96,-0.02), (21.31,-0.03), (26.68,-0.03), (32.05,-0.03), (37.43,-0.01), (42.80,0.02), (48.16,0.06), (53.52,0.11)]\nOption E\n  waypoints xy: [(1.68,0.01), (2.97,0.03), (3.86,0.06), (4.41,0.10), (4.68,0.12), (4.77,0.13), (4.77,0.13), (4.77,0.13), (4.79,0.14), (4.99,0.18)]\nOption F\n  waypoints xy: [(6.65,-0.00), (13.28,-0.02), (19.87,-0.06), (26.43,-0.10), (32.95,-0.17), (39.39,-0.26), (45.77,-0.36), (52.10,-0.46), (58.36,-0.58), (64.57,-0.70)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.5057096285916205,"cv_gap":12.439}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Fs9YtHX7ZS","cam_id":"4_resize","sample_timestamps":["000000001579_000000000000","000000001579_000500000000","000000001580_000000000000","000000001580_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001580_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Fs9YtHX7ZS","cam_id":"2","sample_timestamps":["000000001579_000000000000","000000001579_000500000000","000000001580_000000000000","000000001580_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001580_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Fs9YtHX7ZS","cam_id":"7","sample_timestamps":["000000001579_000000000000","000000001579_000500000000","000000001580_000000000000","000000001580_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001580_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"Fs9YtHX7ZS"}},"extra_info":{"index":161,"token":"Fs9YtHX7ZS","id":"Fs9YtHX7ZS","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.81,-0.03), (7.59,-0.08), (11.30,-0.17), (14.96,-0.28), (18.53,-0.41), (22.00,-0.55), (25.39,-0.71), (28.68,-0.88), (31.85,-1.05), (34.91,-1.21)]\nOption B\n  waypoints xy: [(0.82,0.00), (1.41,0.00), (1.80,0.00), (2.05,0.00), (2.22,0.00), (2.36,0.00), (2.50,0.01), (2.62,0.01), (2.72,0.01), (2.81,0.01)]\nOption C\n  waypoints xy: [(5.12,-0.01), (10.27,-0.02), (15.45,-0.04), (20.66,-0.04), (25.87,-0.03), (31.09,-0.01), (36.30,0.01), (41.52,0.03), (46.74,0.04), (51.96,0.05)]\nOption D\n  waypoints xy: [(3.61,-0.00), (7.35,-0.00), (11.23,-0.00), (15.23,0.00), (19.35,0.02), (23.59,0.04), (27.91,0.06), (32.30,0.08), (36.74,0.10), (41.20,0.13)]\nOption E\n  waypoints xy: [(3.80,-0.00), (7.59,-0.01), (11.35,-0.03), (15.08,-0.07), (18.86,-0.11), (22.73,-0.15), (26.66,-0.19), (30.62,-0.23), (34.52,-0.26), (38.28,-0.27)]\nOption F\n  waypoints xy: [(1.36,0.00), (2.64,0.01), (3.82,0.02), (4.89,0.04), (5.92,0.06), (7.00,0.08), (8.16,0.09), (9.41,0.10), (10.71,0.09), (12.07,0.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.4,"cv_gap":9.356}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"NgMZAIXwuQ","cam_id":"4_resize","sample_timestamps":["000000009309_000000000000","000000009309_000500000000","000000009310_000000000000","000000009310_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009310_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NgMZAIXwuQ","cam_id":"2","sample_timestamps":["000000009309_000000000000","000000009309_000500000000","000000009310_000000000000","000000009310_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009310_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NgMZAIXwuQ","cam_id":"7","sample_timestamps":["000000009309_000000000000","000000009309_000500000000","000000009310_000000000000","000000009310_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009310_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with an acceleration**. The ego vehicle's current velocity is 3.800 m/s at x-direction and 0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and -0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"NgMZAIXwuQ"}},"extra_info":{"index":162,"token":"NgMZAIXwuQ","id":"NgMZAIXwuQ","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.49,-0.03), (11.04,-0.12), (16.64,-0.25), (22.29,-0.46), (28.00,-0.72), (33.78,-1.04), (39.63,-1.44), (45.53,-1.90), (51.47,-2.43), (57.43,-2.99)]\nOption B\n  waypoints xy: [(5.47,-0.01), (10.97,-0.03), (16.50,-0.06), (22.06,-0.10), (27.64,-0.15), (33.23,-0.23), (38.85,-0.32), (44.48,-0.42), (50.14,-0.52), (55.81,-0.63)]\nOption C\n  waypoints xy: [(1.41,-0.03), (2.46,-0.07), (3.11,-0.10), (3.40,-0.11), (3.45,-0.12), (3.45,-0.12), (3.45,-0.12), (3.46,-0.12), (3.46,-0.12), (3.50,-0.12)]\nOption D\n  waypoints xy: [(2.04,0.03), (4.02,0.11), (5.95,0.23), (7.83,0.38), (9.69,0.54), (11.53,0.73), (13.35,0.91), (15.14,1.09), (16.90,1.26), (18.64,1.42)]\nOption E\n  waypoints xy: [(7.19,0.01), (14.33,0.05), (21.43,0.11), (28.48,0.20), (35.50,0.31), (42.48,0.42), (49.42,0.56), (56.33,0.71), (63.21,0.90), (70.06,1.10)]\nOption F\n  waypoints xy: [(4.08,-0.00), (8.14,-0.00), (12.19,-0.00), (16.26,-0.00), (20.37,-0.00), (24.54,-0.00), (28.80,-0.01), (33.16,-0.02), (37.61,-0.03), (42.14,-0.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.8118237105091834,"cv_gap":15.532}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"NBLACpd2uO","cam_id":"4_resize","sample_timestamps":["000000007305_000700000000","000000007306_000200000000","000000007306_000700000000","000000007307_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007307_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NBLACpd2uO","cam_id":"2","sample_timestamps":["000000007305_000700000000","000000007306_000200000000","000000007306_000700000000","000000007307_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007307_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NBLACpd2uO","cam_id":"7","sample_timestamps":["000000007305_000700000000","000000007306_000200000000","000000007306_000700000000","000000007307_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007307_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.500 m/s at x-direction and 0.200 m/s at y-direction. The ego vehicle's current acceleration is 0.200 m/s^2 at x-direction and -0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"NBLACpd2uO"}},"extra_info":{"index":163,"token":"NBLACpd2uO","id":"NBLACpd2uO","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.82,-0.03), (3.60,-0.10), (5.31,-0.19), (6.87,-0.30), (8.24,-0.43), (9.44,-0.57), (10.51,-0.72), (11.48,-0.89), (12.38,-1.08), (13.25,-1.28)]\nOption B\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption C\n  waypoints xy: [(2.86,0.02), (5.69,0.07), (8.49,0.16), (11.25,0.27), (13.98,0.39), (16.69,0.52), (19.38,0.64), (22.05,0.75), (24.67,0.83), (27.25,0.90)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(4.32,-0.01), (9.03,-0.02), (14.08,-0.03), (19.46,-0.04), (25.12,-0.06), (31.03,-0.07), (37.15,-0.09), (43.42,-0.12), (49.80,-0.16), (56.23,-0.21)]\nOption F\n  waypoints xy: [(6.27,-0.01), (12.33,-0.05), (18.10,-0.09), (23.50,-0.14), (28.50,-0.20), (33.11,-0.27), (37.32,-0.34), (41.16,-0.41), (44.64,-0.48), (47.79,-0.56)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.503635162326805,"cv_gap":14.089}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/83973be729437017b6052b926ffae8c0-108/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/83973be729437017b6052b926ffae8c0-108/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/83973be729437017b6052b926ffae8c0-108/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 5.393 m/s at x-direction and -0.070 m/s at y-direction. The ego vehicle's current acceleration is 0.300 m/s^2 at x-direction and 0.447 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::83973be729437017b6052b926ffae8c0-108"}},"extra_info":{"index":164,"token":"waymo_e2e::83973be729437017b6052b926ffae8c0-108","id":"waymo_e2e::83973be729437017b6052b926ffae8c0-108","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.23,0.00), (6.64,0.01), (10.21,0.03), (13.97,0.05), (17.89,0.07), (21.98,0.09), (26.21,0.10), (30.57,0.10), (35.02,0.11), (39.53,0.10)]\nOption B\n  waypoints xy: [(0.65,-0.02), (1.12,-0.04), (1.45,-0.05), (1.82,-0.08), (2.30,-0.11), (3.00,-0.16), (3.77,-0.22), (4.36,-0.27), (4.91,-0.32), (5.57,-0.38)]\nOption C\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\nOption D\n  waypoints xy: [(2.80,0.02), (5.89,0.09), (9.26,0.22), (12.90,0.40), (16.80,0.64), (20.95,0.93), (25.32,1.27), (29.89,1.65), (34.61,2.06), (39.44,2.47)]\nOption E\n  waypoints xy: [(7.80,-0.01), (15.61,-0.03), (23.46,-0.07), (31.32,-0.12), (39.20,-0.18), (47.10,-0.23), (55.02,-0.28), (62.94,-0.33), (70.86,-0.36), (78.79,-0.38)]\nOption F\n  waypoints xy: [(3.01,0.65), (6.03,2.02), (8.95,4.05), (11.68,6.67), (14.30,9.71), (16.96,13.01), (19.72,16.50), (22.57,20.11), (25.48,23.78), (28.41,27.48)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.393427324329263,"cv_gap":27.928}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-051/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-051/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-051/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.193 m/s at x-direction and 0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.801 m/s^2 at x-direction and -0.129 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-051"}},"extra_info":{"index":165,"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-051","id":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-051","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.11,-0.01), (10.22,-0.05), (15.34,-0.09), (20.46,-0.15), (25.59,-0.20), (30.72,-0.23), (35.84,-0.26), (40.93,-0.28), (45.99,-0.30), (51.01,-0.33)]\nOption B\n  waypoints xy: [(5.62,0.00), (11.20,0.01), (16.72,0.03), (22.14,0.04), (27.44,0.06), (32.58,0.06), (37.57,0.07), (42.41,0.07), (47.11,0.08), (51.66,0.09)]\nOption C\n  waypoints xy: [(5.15,0.01), (10.29,0.02), (15.41,0.03), (20.52,0.05), (25.61,0.06), (30.69,0.07), (35.79,0.08), (40.89,0.08), (46.00,0.09), (51.12,0.09)]\nOption D\n  waypoints xy: [(4.04,-0.01), (7.53,-0.02), (10.36,-0.03), (12.43,-0.03), (13.74,-0.03), (14.40,-0.03), (14.61,-0.03), (14.62,-0.03), (14.63,-0.03), (14.70,-0.03)]\nOption E\n  waypoints xy: [(0.91,0.11), (1.99,0.32), (3.21,0.70), (4.50,1.33), (5.76,2.27), (6.92,3.53), (7.89,5.13), (8.59,7.04), (8.93,9.20), (8.90,11.53)]\nOption F\n  waypoints xy: [(1.20,0.16), (2.41,0.54), (3.59,1.18), (4.71,2.10), (5.71,3.29), (6.56,4.75), (7.24,6.43), (7.77,8.26), (8.17,10.17), (8.49,12.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.192520298270166,"cv_gap":35.466}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0bdcc1da851d8d3741b7c20b60e7e6c6-214/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0bdcc1da851d8d3741b7c20b60e7e6c6-214/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0bdcc1da851d8d3741b7c20b60e7e6c6-214/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 9.881 m/s at x-direction and 0.143 m/s at y-direction. The ego vehicle's current acceleration is 0.018 m/s^2 at x-direction and -0.812 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0bdcc1da851d8d3741b7c20b60e7e6c6-214"}},"extra_info":{"index":166,"token":"waymo_e2e::0bdcc1da851d8d3741b7c20b60e7e6c6-214","id":"waymo_e2e::0bdcc1da851d8d3741b7c20b60e7e6c6-214","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.53,-0.04), (9.41,-0.10), (14.59,-0.20), (20.00,-0.34), (25.55,-0.52), (31.22,-0.73), (37.00,-0.95), (42.86,-1.18), (48.80,-1.41), (54.79,-1.65)]\nOption B\n  waypoints xy: [(0.39,-0.01), (0.66,-0.02), (1.13,-0.06), (1.69,-0.14), (2.23,-0.23), (2.86,-0.38), (3.53,-0.56), (4.30,-0.80), (5.10,-1.08), (5.98,-1.46)]\nOption C\n  waypoints xy: [(4.83,-0.01), (9.95,-0.02), (15.26,-0.06), (20.68,-0.12), (26.17,-0.18), (31.74,-0.26), (37.40,-0.33), (43.12,-0.40), (48.92,-0.48), (54.78,-0.55)]\nOption D\n  waypoints xy: [(0.61,-0.03), (1.23,-0.09), (1.85,-0.20), (2.47,-0.35), (3.10,-0.53), (3.75,-0.74), (4.39,-0.97), (5.05,-1.22), (5.71,-1.49), (6.38,-1.78)]\nOption E\n  waypoints xy: [(4.81,0.01), (9.67,0.05), (14.58,0.10), (19.51,0.17), (24.48,0.23), (29.49,0.29), (34.52,0.34), (39.57,0.40), (44.65,0.45), (49.76,0.50)]\nOption F\n  waypoints xy: [(4.75,-0.68), (9.48,-2.26), (14.22,-4.53), (18.93,-7.40), (23.49,-10.91), (27.79,-15.02), (31.74,-19.66), (35.24,-24.80), (38.31,-30.37), (41.05,-36.30)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.881797468273723,"cv_gap":48.236}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"HOkbFBBeWZ","cam_id":"4_resize","sample_timestamps":["000000009438_000500000000","000000009439_000000000000","000000009439_000500000000","000000009440_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009440_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HOkbFBBeWZ","cam_id":"2","sample_timestamps":["000000009438_000500000000","000000009439_000000000000","000000009439_000500000000","000000009440_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009440_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HOkbFBBeWZ","cam_id":"7","sample_timestamps":["000000009438_000500000000","000000009439_000000000000","000000009439_000500000000","000000009440_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009440_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 2.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"HOkbFBBeWZ"}},"extra_info":{"index":167,"token":"HOkbFBBeWZ","id":"HOkbFBBeWZ","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.90,-0.01), (1.66,-0.01), (2.32,-0.02), (2.78,-0.03), (3.01,-0.03), (3.04,-0.03), (3.04,-0.02), (3.04,-0.02), (3.04,-0.02), (3.03,-0.02)]\nOption B\n  waypoints xy: [(3.68,-0.13), (7.44,-0.44), (11.24,-0.92), (15.06,-1.60), (18.89,-2.41), (22.70,-3.36), (26.49,-4.39), (30.26,-5.50), (34.02,-6.67), (37.76,-7.88)]\nOption C\n  waypoints xy: [(0.97,-0.00), (1.96,-0.01), (2.96,-0.01), (3.97,-0.02), (4.99,-0.04), (6.02,-0.05), (7.05,-0.06), (8.07,-0.08), (9.09,-0.10), (10.10,-0.12)]\nOption D\n  waypoints xy: [(4.88,-0.00), (9.79,-0.01), (14.72,-0.01), (19.67,0.00), (24.62,0.01), (29.57,0.02), (34.53,0.03), (39.46,0.02), (44.37,0.03), (49.24,0.03)]\nOption E\n  waypoints xy: [(5.61,-0.00), (11.26,0.06), (16.92,0.18), (22.60,0.31), (28.31,0.49), (34.07,0.69), (39.84,0.94), (45.63,1.26), (51.46,1.65), (57.28,2.09)]\nOption F\n  waypoints xy: [(6.30,-0.01), (12.56,-0.03), (18.79,-0.07), (24.99,-0.11), (31.18,-0.16), (37.36,-0.21), (43.55,-0.25), (49.74,-0.26), (55.92,-0.23), (62.09,-0.18)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.0,"cv_gap":6.851}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/fc638bd4304ecb10796c246859ee3685-035/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/fc638bd4304ecb10796c246859ee3685-035/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/fc638bd4304ecb10796c246859ee3685-035/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.549 m/s at x-direction and 0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.047 m/s^2 at x-direction and 0.011 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::fc638bd4304ecb10796c246859ee3685-035"}},"extra_info":{"index":168,"token":"waymo_e2e::fc638bd4304ecb10796c246859ee3685-035","id":"waymo_e2e::fc638bd4304ecb10796c246859ee3685-035","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.45,0.03), (1.16,0.11), (2.27,0.35), (3.72,0.93), (5.33,2.04), (6.86,3.75), (8.13,6.06), (9.00,8.91), (9.52,12.19), (9.78,15.84)]\nOption B\n  waypoints xy: [(0.96,0.09), (2.12,0.35), (3.44,0.91), (4.82,1.87), (6.13,3.27), (7.24,5.13), (8.05,7.39), (8.59,10.00), (8.94,12.91), (9.18,16.07)]\nOption C\n  waypoints xy: [(2.44,0.01), (4.82,0.02), (7.13,0.03), (9.37,0.04), (11.58,0.06), (13.77,0.08), (15.98,0.09), (18.20,0.11), (20.41,0.12), (22.61,0.14)]\nOption D\n  waypoints xy: [(7.08,-0.01), (14.19,-0.02), (21.31,-0.03), (28.43,-0.06), (35.55,-0.09), (42.68,-0.12), (49.81,-0.16), (56.92,-0.24), (64.04,-0.32), (71.15,-0.37)]\nOption E\n  waypoints xy: [(2.31,-0.02), (4.61,-0.04), (6.82,-0.08), (8.89,-0.17), (10.82,-0.35), (12.63,-0.68), (14.30,-1.25), (15.81,-2.08), (17.10,-3.20), (18.16,-4.55)]\nOption F\n  waypoints xy: [(7.07,0.01), (14.14,0.03), (21.23,0.07), (28.33,0.14), (35.45,0.22), (42.58,0.31), (49.74,0.41), (56.91,0.50), (64.09,0.60), (71.27,0.73)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.5487290315029725,"cv_gap":7.365}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/a3712845523527379f273278884d24f9-078/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a3712845523527379f273278884d24f9-078/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a3712845523527379f273278884d24f9-078/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.333 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.118 m/s^2 at x-direction and -0.086 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::a3712845523527379f273278884d24f9-078"}},"extra_info":{"index":169,"token":"waymo_e2e::a3712845523527379f273278884d24f9-078","id":"waymo_e2e::a3712845523527379f273278884d24f9-078","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.17,-0.02), (6.04,-0.04), (8.53,-0.07), (10.57,-0.10), (12.09,-0.12), (13.11,-0.13), (13.65,-0.14), (13.83,-0.14), (13.85,-0.14), (13.86,-0.14)]\nOption B\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\nOption C\n  waypoints xy: [(0.22,-0.02), (0.58,-0.06), (1.19,-0.19), (2.08,-0.47), (3.23,-1.03), (4.48,-2.01), (5.64,-3.51), (6.58,-5.53), (7.32,-8.02), (7.95,-10.95)]\nOption D\n  waypoints xy: [(5.01,0.01), (10.11,0.07), (15.29,0.19), (20.53,0.40), (25.81,0.72), (31.14,1.13), (36.50,1.62), (41.87,2.16), (47.24,2.74), (52.60,3.34)]\nOption E\n  waypoints xy: [(9.80,-0.03), (19.64,-0.10), (29.53,-0.20), (39.52,-0.31), (49.65,-0.44), (59.92,-0.56), (70.29,-0.71), (80.73,-0.86), (91.20,-1.05), (101.69,-1.26)]\nOption F\n  waypoints xy: [(3.11,-0.01), (6.17,-0.01), (9.30,-0.02), (12.52,-0.03), (15.80,-0.04), (19.09,-0.06), (22.36,-0.08), (25.59,-0.10), (28.77,-0.11), (31.88,-0.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.333344746277896,"cv_gap":17.831}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/edd75a8835f26225f7034074a0c8f574-063/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/edd75a8835f26225f7034074a0c8f574-063/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/edd75a8835f26225f7034074a0c8f574-063/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.963 m/s at x-direction and -0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.177 m/s^2 at x-direction and 0.020 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::edd75a8835f26225f7034074a0c8f574-063"}},"extra_info":{"index":170,"token":"waymo_e2e::edd75a8835f26225f7034074a0c8f574-063","id":"waymo_e2e::edd75a8835f26225f7034074a0c8f574-063","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.03,-0.01), (8.06,-0.01), (12.08,-0.02), (16.07,-0.02), (20.06,-0.03), (24.03,-0.04), (27.98,-0.05), (31.89,-0.06), (35.74,-0.07), (39.54,-0.08)]\nOption B\n  waypoints xy: [(3.83,0.00), (7.37,0.02), (10.57,0.03), (13.42,0.06), (15.86,0.08), (17.86,0.11), (19.42,0.13), (20.60,0.14), (21.43,0.15), (21.97,0.16)]\nOption C\n  waypoints xy: [(1.83,0.13), (3.78,0.50), (5.73,1.23), (7.59,2.44), (9.21,4.14), (10.49,6.31), (11.33,8.89), (11.79,11.81), (12.01,15.00), (12.11,18.39)]\nOption D\n  waypoints xy: [(6.82,0.01), (13.63,0.04), (20.44,0.08), (27.25,0.14), (34.07,0.19), (40.90,0.24), (47.74,0.27), (54.57,0.30), (61.37,0.33), (68.17,0.37)]\nOption E\n  waypoints xy: [(8.08,0.03), (16.16,0.10), (24.24,0.19), (32.31,0.31), (40.36,0.45), (48.40,0.61), (56.41,0.78), (64.40,0.95), (72.38,1.12), (80.35,1.30)]\nOption F\n  waypoints xy: [(1.89,-0.40), (3.73,-1.22), (5.39,-2.50), (6.81,-4.15), (8.02,-6.11), (9.08,-8.29), (10.02,-10.62), (10.88,-13.03), (11.70,-15.50), (12.52,-18.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.963280418882224,"cv_gap":17.99}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/a529f4f3e78c2172f35106ca7d60e246-193/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a529f4f3e78c2172f35106ca7d60e246-193/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a529f4f3e78c2172f35106ca7d60e246-193/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 3.973 m/s at x-direction and -0.018 m/s at y-direction. The ego vehicle's current acceleration is -0.575 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::a529f4f3e78c2172f35106ca7d60e246-193"}},"extra_info":{"index":171,"token":"waymo_e2e::a529f4f3e78c2172f35106ca7d60e246-193","id":"waymo_e2e::a529f4f3e78c2172f35106ca7d60e246-193","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.90,0.00), (3.86,0.00), (5.87,0.00), (7.87,0.01), (9.87,0.00), (11.88,-0.00), (13.86,-0.01), (15.83,-0.03), (17.77,-0.06), (19.65,-0.12)]\nOption B\n  waypoints xy: [(5.81,0.01), (11.65,0.01), (17.53,0.02), (23.40,0.03), (29.28,0.05), (35.18,0.07), (41.13,0.10), (47.15,0.14), (53.20,0.19), (59.26,0.23)]\nOption C\n  waypoints xy: [(4.40,-0.00), (9.09,-0.01), (14.07,-0.01), (19.34,-0.03), (24.72,-0.06), (30.13,-0.09), (35.64,-0.15), (41.24,-0.22), (46.93,-0.32), (52.71,-0.41)]\nOption D\n  waypoints xy: [(1.54,0.00), (2.86,-0.00), (3.96,-0.00), (4.79,-0.01), (5.35,-0.01), (5.67,-0.01), (5.80,-0.01), (5.85,-0.01), (5.87,-0.01), (5.90,-0.01)]\nOption E\n  waypoints xy: [(5.21,-0.01), (10.40,-0.01), (15.58,-0.02), (20.76,-0.04), (25.93,-0.09), (31.10,-0.15), (36.29,-0.23), (41.50,-0.33), (46.71,-0.46), (51.93,-0.61)]\nOption F\n  waypoints xy: [(4.94,0.01), (9.91,0.02), (14.85,0.05), (19.71,0.11), (24.35,0.19), (28.69,0.28), (32.72,0.39), (36.41,0.50), (39.68,0.62), (42.49,0.73)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.9731397928499645,"cv_gap":13.714}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/0b2a5e3955c976230320ea4802a316f0-178/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/0b2a5e3955c976230320ea4802a316f0-178/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/0b2a5e3955c976230320ea4802a316f0-178/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 3.447 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is 0.196 m/s^2 at x-direction and -0.123 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0b2a5e3955c976230320ea4802a316f0-178"}},"extra_info":{"index":172,"token":"waymo_e2e::0b2a5e3955c976230320ea4802a316f0-178","id":"waymo_e2e::0b2a5e3955c976230320ea4802a316f0-178","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.09,-0.01), (8.18,-0.02), (12.25,-0.03), (16.30,-0.03), (20.32,-0.04), (24.32,-0.04), (28.31,-0.05), (32.28,-0.06), (36.24,-0.06), (40.18,-0.06)]\nOption B\n  waypoints xy: [(5.09,-0.01), (10.24,-0.02), (15.44,-0.03), (20.67,-0.03), (25.89,-0.01), (31.12,0.02), (36.37,0.07), (41.63,0.13), (46.89,0.17), (52.10,0.20)]\nOption C\n  waypoints xy: [(1.79,-0.28), (3.58,-0.91), (5.28,-1.99), (6.75,-3.53), (7.91,-5.49), (8.76,-7.81), (9.38,-10.44), (9.89,-13.33), (10.35,-16.46), (10.79,-19.78)]\nOption D\n  waypoints xy: [(1.70,-0.00), (3.41,0.02), (5.13,0.01), (6.86,0.01), (8.60,0.01), (10.35,0.01), (12.07,-0.01), (13.73,-0.04), (15.33,-0.05), (16.85,-0.08)]\nOption E\n  waypoints xy: [(2.98,-0.02), (5.87,-0.04), (8.61,-0.07), (11.19,-0.11), (13.59,-0.17), (15.80,-0.25), (17.79,-0.36), (19.58,-0.47), (21.15,-0.57), (22.51,-0.67)]\nOption F\n  waypoints xy: [(0.82,-0.00), (2.17,-0.00), (3.84,0.00), (5.75,0.01), (7.99,0.02), (10.54,0.03), (13.30,0.04), (16.22,0.05), (19.30,0.08), (22.53,0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.447280476745096,"cv_gap":21.237}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-073/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-073/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-073/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.629 m/s at x-direction and -0.018 m/s at y-direction. The ego vehicle's current acceleration is -0.590 m/s^2 at x-direction and 0.072 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::61299b09568e3455470309f22c7aacfa-073"}},"extra_info":{"index":173,"token":"waymo_e2e::61299b09568e3455470309f22c7aacfa-073","id":"waymo_e2e::61299b09568e3455470309f22c7aacfa-073","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.63,-0.02), (12.82,-0.08), (18.53,-0.17), (23.75,-0.29), (28.40,-0.40), (32.69,-0.30), (36.88,0.32), (40.79,1.52), (44.22,3.14), (47.06,5.02)]\nOption B\n  waypoints xy: [(4.26,-0.00), (8.54,0.01), (12.83,0.02), (17.14,0.03), (21.48,0.03), (25.84,0.02), (30.21,0.02), (34.59,0.01), (38.98,-0.00), (43.37,-0.02)]\nOption C\n  waypoints xy: [(0.54,0.00), (1.37,0.03), (2.45,0.17), (3.72,0.54), (5.07,1.27), (6.35,2.48), (7.40,4.19), (8.07,6.34), (8.40,8.86), (8.58,11.67)]\nOption D\n  waypoints xy: [(4.03,-0.03), (7.25,-0.08), (9.87,-0.13), (11.88,-0.17), (13.28,-0.19), (14.02,-0.21), (14.32,-0.21), (14.34,-0.21), (14.35,-0.20), (14.35,-0.20)]\nOption E\n  waypoints xy: [(7.41,-0.04), (14.89,-0.13), (22.34,-0.24), (29.72,-0.35), (37.14,-0.39), (44.63,-0.37), (52.21,-0.35), (59.83,-0.34), (67.52,-0.37), (75.24,-0.42)]\nOption F\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.628574901880112,"cv_gap":28.243}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"1ezU9tpX3O","cam_id":"4_resize","sample_timestamps":["000000003391_000500000000","000000003392_000000000000","000000003392_000500000000","000000003393_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003393_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1ezU9tpX3O","cam_id":"2","sample_timestamps":["000000003391_000500000000","000000003392_000000000000","000000003392_000500000000","000000003393_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003393_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1ezU9tpX3O","cam_id":"7","sample_timestamps":["000000003391_000500000000","000000003392_000000000000","000000003392_000500000000","000000003393_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003393_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with an acceleration**. The ego vehicle's current velocity is 6.700 m/s at x-direction and -0.400 m/s at y-direction. The ego vehicle's current acceleration is -1.300 m/s^2 at x-direction and 0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"1ezU9tpX3O"}},"extra_info":{"index":174,"token":"1ezU9tpX3O","id":"1ezU9tpX3O","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.47,-0.00), (9.15,0.01), (14.04,0.03), (19.12,0.06), (24.37,0.10), (29.75,0.16), (35.23,0.24), (40.81,0.34), (46.46,0.45), (52.19,0.58)]\nOption B\n  waypoints xy: [(0.91,-0.42), (1.53,-0.87), (2.02,-1.37), (2.47,-2.01), (2.91,-2.87), (3.37,-3.97), (3.82,-5.30), (4.25,-6.89), (4.76,-8.70), (5.36,-10.69)]\nOption C\n  waypoints xy: [(4.69,0.01), (9.43,0.04), (14.23,0.07), (19.10,0.11), (24.04,0.14), (29.05,0.18), (34.11,0.22), (39.20,0.27), (44.30,0.32), (49.42,0.38)]\nOption D\n  waypoints xy: [(3.33,-0.04), (6.66,-0.13), (9.99,-0.29), (13.31,-0.51), (16.63,-0.78), (19.95,-1.09), (23.29,-1.43), (26.66,-1.77), (30.04,-2.11), (33.46,-2.44)]\nOption E\n  waypoints xy: [(2.63,0.06), (5.08,0.19), (7.25,0.37), (9.07,0.56), (10.51,0.72), (11.54,0.86), (12.21,0.96), (12.59,1.02), (12.81,1.08), (12.98,1.13)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.711929677819934,"cv_gap":21.843}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"hSQVMxJhNn","cam_id":"4_resize","sample_timestamps":["000000003007_000700000000","000000003008_000200000000","000000003008_000700000000","000000003009_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003009_000250000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"hSQVMxJhNn","cam_id":"2","sample_timestamps":["000000003007_000700000000","000000003008_000200000000","000000003008_000700000000","000000003009_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003009_000250000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"hSQVMxJhNn","cam_id":"7","sample_timestamps":["000000003007_000700000000","000000003008_000200000000","000000003008_000700000000","000000003009_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003009_000250000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"hSQVMxJhNn"}},"extra_info":{"index":175,"token":"hSQVMxJhNn","id":"hSQVMxJhNn","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.72,-0.64), (5.57,-1.89), (8.60,-3.63), (11.86,-5.75), (15.37,-8.15), (19.11,-10.77), (23.03,-13.55), (27.10,-16.46), (31.27,-19.45), (35.50,-22.51)]\nOption B\n  waypoints xy: [(0.62,-0.00), (1.18,-0.00), (1.69,0.00), (2.15,0.01), (2.55,0.01), (2.91,0.02), (3.23,0.02), (3.51,0.03), (3.78,0.04), (4.06,0.06)]\nOption C\n  waypoints xy: [(6.61,-0.01), (13.27,-0.03), (19.98,-0.05), (26.75,-0.08), (33.58,-0.11), (40.46,-0.15), (47.42,-0.19), (54.45,-0.24), (61.55,-0.28), (68.71,-0.32)]\nOption D\n  waypoints xy: [(5.25,-0.00), (10.49,-0.01), (15.69,-0.02), (20.83,-0.04), (25.88,-0.05), (30.75,-0.07), (35.40,-0.08), (39.83,-0.10), (44.04,-0.11), (48.07,-0.12)]\nOption E\n  waypoints xy: [(4.89,-0.01), (9.77,-0.02), (14.64,-0.02), (19.55,-0.03), (24.50,-0.02), (29.51,-0.00), (34.58,0.04), (39.71,0.11), (44.89,0.20), (50.10,0.30)]\nOption F\n  waypoints xy: [(0.75,-0.00), (1.50,-0.01), (2.24,-0.01), (2.98,-0.02), (3.73,-0.02), (4.48,-0.03), (5.24,-0.05), (6.01,-0.06), (6.79,-0.08), (7.59,-0.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5,"cv_gap":3.795}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"wwzV7T88RN","cam_id":"4_resize","sample_timestamps":["000000013218_000500000000","000000013219_000000000000","000000013219_000500000000","000000013220_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000013220_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"wwzV7T88RN","cam_id":"2","sample_timestamps":["000000013218_000500000000","000000013219_000000000000","000000013219_000500000000","000000013220_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000013220_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"wwzV7T88RN","cam_id":"7","sample_timestamps":["000000013218_000500000000","000000013219_000000000000","000000013219_000500000000","000000013220_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000013220_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.800 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and 0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"wwzV7T88RN"}},"extra_info":{"index":176,"token":"wwzV7T88RN","id":"wwzV7T88RN","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.24,0.05), (4.17,0.13), (5.73,0.23), (6.89,0.31), (7.64,0.37), (8.04,0.40), (8.16,0.40), (8.15,0.40), (8.15,0.40), (8.22,0.41)]\nOption B\n  waypoints xy: [(4.28,0.07), (8.68,0.18), (13.19,0.31), (17.80,0.39), (22.50,0.41), (27.27,0.34), (32.06,0.21), (36.83,0.00), (41.58,-0.25), (46.26,-0.53)]\nOption C\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption D\n  waypoints xy: [(4.79,-0.01), (9.52,-0.03), (14.16,-0.05), (18.67,-0.07), (23.00,-0.10), (27.10,-0.12), (30.89,-0.15), (34.32,-0.19), (37.39,-0.22), (40.10,-0.25)]\nOption E\n  waypoints xy: [(6.34,-0.00), (12.56,-0.00), (18.66,0.01), (24.64,0.02), (30.46,0.05), (36.12,0.09), (41.62,0.13), (46.97,0.19), (52.15,0.25), (57.13,0.33)]\nOption F\n  waypoints xy: [(4.40,0.00), (8.86,0.01), (13.36,0.00), (17.89,0.01), (22.44,0.01), (27.01,0.03), (31.58,0.06), (36.12,0.11), (40.63,0.15), (45.09,0.19)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.801041553663121,"cv_gap":15.155}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/7bb3a6d91628d67308a97bcdbcc84c03-117/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/7bb3a6d91628d67308a97bcdbcc84c03-117/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/7bb3a6d91628d67308a97bcdbcc84c03-117/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.353 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.451 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::7bb3a6d91628d67308a97bcdbcc84c03-117"}},"extra_info":{"index":177,"token":"waymo_e2e::7bb3a6d91628d67308a97bcdbcc84c03-117","id":"waymo_e2e::7bb3a6d91628d67308a97bcdbcc84c03-117","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.97,0.02), (9.79,0.06), (14.33,0.13), (18.56,0.22), (22.49,0.31), (26.13,0.39), (29.45,0.46), (32.36,0.51), (34.81,0.55), (36.80,0.56)]\nOption B\n  waypoints xy: [(1.35,0.00), (2.51,0.01), (3.48,0.01), (4.24,0.02), (4.78,0.02), (5.15,0.03), (5.40,0.04), (5.57,0.04), (5.71,0.04), (5.85,0.04)]\nOption C\n  waypoints xy: [(3.28,-0.63), (6.90,-1.83), (10.92,-3.46), (15.37,-5.41), (20.22,-7.61), (25.38,-10.01), (30.78,-12.56), (36.35,-15.20), (42.02,-17.91), (47.76,-20.66)]\nOption D\n  waypoints xy: [(3.87,-0.00), (7.71,-0.02), (11.50,-0.06), (15.23,-0.13), (18.92,-0.25), (22.57,-0.47), (26.20,-0.79), (29.82,-1.20), (33.42,-1.65), (36.97,-2.10)]\nOption E\n  waypoints xy: [(11.68,0.05), (23.36,0.16), (35.05,0.35), (46.74,0.56), (58.43,0.79), (70.11,1.03), (81.79,1.27), (93.46,1.51), (105.14,1.77), (116.81,2.05)]\nOption F\n  waypoints xy: [(1.71,-0.01), (3.41,-0.02), (5.08,-0.03), (6.74,-0.05), (8.41,-0.08), (10.08,-0.10), (11.76,-0.13), (13.44,-0.15), (15.13,-0.17), (16.80,-0.18)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.3525686342745327,"cv_gap":10.929}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-014/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-014/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-014/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 11.011 m/s at x-direction and -0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.458 m/s^2 at x-direction and -0.046 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-014"}},"extra_info":{"index":178,"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-014","id":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-014","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.09,0.00), (0.14,0.00), (0.20,0.00), (0.27,0.00), (0.33,0.00), (0.39,0.00), (0.44,0.00), (0.49,0.00), (0.54,0.01), (0.59,0.01)]\nOption B\n  waypoints xy: [(5.41,-0.01), (10.87,-0.03), (16.37,-0.05), (21.87,-0.06), (27.37,-0.07), (32.85,-0.07), (38.30,-0.06), (43.78,-0.06), (49.28,-0.06), (54.78,-0.08)]\nOption C\n  waypoints xy: [(4.99,-0.01), (9.66,-0.03), (13.89,-0.06), (17.60,-0.10), (20.73,-0.14), (23.25,-0.17), (25.13,-0.20), (26.43,-0.22), (27.22,-0.24), (27.67,-0.24)]\nOption D\n  waypoints xy: [(1.59,-0.19), (3.38,-0.70), (5.17,-1.65), (6.84,-3.13), (8.27,-5.22), (9.59,-7.96), (10.94,-11.26), (12.37,-14.99), (13.87,-18.95), (15.41,-23.03)]\nOption E\n  waypoints xy: [(6.27,0.00), (12.67,0.01), (19.20,0.04), (25.87,0.09), (32.67,0.14), (39.60,0.21), (46.64,0.26), (53.78,0.31), (61.00,0.36), (68.21,0.40)]\nOption F\n  waypoints xy: [(2.00,-0.38), (4.04,-1.15), (6.05,-2.36), (7.97,-4.00), (9.80,-6.03), (11.56,-8.40), (13.30,-11.06), (15.07,-13.96), (16.88,-17.09), (18.73,-20.37)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":11.01120977877819,"cv_gap":28.412}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/2b75e328cf24ada5df567344b03b346a-088/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2b75e328cf24ada5df567344b03b346a-088/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2b75e328cf24ada5df567344b03b346a-088/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 10.289 m/s at x-direction and 0.010 m/s at y-direction. The ego vehicle's current acceleration is -0.043 m/s^2 at x-direction and -0.012 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-088"}},"extra_info":{"index":179,"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-088","id":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-088","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.28,-0.02), (10.58,-0.05), (15.91,-0.11), (21.24,-0.18), (26.58,-0.27), (31.90,-0.36), (37.21,-0.46), (42.50,-0.58), (47.74,-0.70), (52.94,-0.82)]\nOption B\n  waypoints xy: [(8.26,-0.00), (16.55,0.01), (24.86,0.02), (33.21,0.03), (41.59,0.03), (50.03,0.05), (58.52,0.08), (67.07,0.11), (75.66,0.16), (84.27,0.19)]\nOption C\n  waypoints xy: [(0.21,0.01), (0.56,0.03), (1.22,0.08), (2.33,0.24), (3.90,0.65), (5.84,1.52), (7.91,3.01), (9.89,5.18), (11.57,8.00), (12.89,11.34)]\nOption D\n  waypoints xy: [(4.08,-0.01), (7.58,-0.04), (10.47,-0.09), (12.73,-0.15), (14.42,-0.20), (15.66,-0.24), (16.49,-0.27), (16.95,-0.29), (17.15,-0.29), (17.20,-0.30)]\nOption E\n  waypoints xy: [(1.63,-0.42), (3.21,-1.18), (4.62,-2.27), (5.85,-3.59), (6.94,-5.06), (7.92,-6.58), (8.84,-8.08), (9.75,-9.56), (10.67,-11.10), (11.63,-12.69)]\nOption F\n  waypoints xy: [(5.08,0.00), (10.18,0.01), (15.30,0.01), (20.43,0.03), (25.59,0.04), (30.77,0.06), (35.96,0.08), (41.18,0.10), (46.41,0.12), (51.64,0.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.288979656925001,"cv_gap":34.892}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"I3ZDCVZo2s","cam_id":"4_resize","sample_timestamps":["000000018751_000100000000","000000018751_000600000000","000000018752_000100000000","000000018752_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000018752_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"I3ZDCVZo2s","cam_id":"2","sample_timestamps":["000000018751_000100000000","000000018751_000600000000","000000018752_000100000000","000000018752_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000018752_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"I3ZDCVZo2s","cam_id":"7","sample_timestamps":["000000018751_000100000000","000000018751_000600000000","000000018752_000100000000","000000018752_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000018752_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with a deceleration**. The ego vehicle's current velocity is 3.500 m/s at x-direction and 0.500 m/s at y-direction. The ego vehicle's current acceleration is 0.300 m/s^2 at x-direction and -0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"I3ZDCVZo2s"}},"extra_info":{"index":180,"token":"I3ZDCVZo2s","id":"I3ZDCVZo2s","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.92,-0.01), (11.86,-0.04), (17.82,-0.09), (23.82,-0.15), (29.86,-0.23), (35.96,-0.31), (42.12,-0.41), (48.34,-0.52), (54.58,-0.66), (60.83,-0.81)]\nOption B\n  waypoints xy: [(3.69,-0.00), (7.14,0.00), (10.27,0.01), (13.04,0.01), (15.42,0.02), (17.33,0.02), (18.76,0.03), (19.74,0.03), (20.32,0.03), (20.60,0.03)]\nOption C\n  waypoints xy: [(1.76,0.04), (3.53,0.14), (5.30,0.29), (7.07,0.49), (8.83,0.75), (10.56,1.08), (12.24,1.47), (13.86,1.95), (15.41,2.51), (16.89,3.17)]\nOption D\n  waypoints xy: [(3.91,-0.01), (7.51,-0.03), (10.76,-0.06), (13.59,-0.08), (15.98,-0.11), (17.86,-0.13), (19.21,-0.15), (20.05,-0.16), (20.46,-0.16), (20.62,-0.16)]\nOption E\n  waypoints xy: [(5.67,-0.00), (11.21,-0.00), (16.59,-0.01), (21.79,-0.02), (26.82,-0.02), (31.67,-0.03), (36.34,-0.03), (40.86,-0.02), (45.24,0.00), (49.52,0.02)]\nOption F\n  waypoints xy: [(2.00,-0.30), (3.98,-0.92), (5.83,-1.91), (7.51,-3.23), (8.98,-4.83), (10.25,-6.66), (11.33,-8.64), (12.26,-10.72), (13.11,-12.88), (13.96,-15.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.5355339059327378,"cv_gap":17.188}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"6CejAn1z2y","cam_id":"4_resize","sample_timestamps":["001743387573_000500000000","001743387574_000000000000","001743387574_000500000000","001743387575_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001743387575_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"6CejAn1z2y","cam_id":"2","sample_timestamps":["001743387573_000500000000","001743387574_000000000000","001743387574_000500000000","001743387575_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001743387575_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"6CejAn1z2y","cam_id":"7","sample_timestamps":["001743387573_000500000000","001743387574_000000000000","001743387574_000500000000","001743387575_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001743387575_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 12.000 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -3.500 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"6CejAn1z2y"}},"extra_info":{"index":181,"token":"6CejAn1z2y","id":"6CejAn1z2y","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.21,-0.01), (0.58,-0.03), (1.29,-0.11), (2.36,-0.33), (3.72,-0.82), (5.21,-1.73), (6.67,-3.20), (7.90,-5.24), (8.84,-7.83), (9.56,-10.94)]\nOption B\n  waypoints xy: [(5.98,0.01), (11.97,0.03), (17.97,0.06), (23.99,0.08), (30.01,0.10), (36.04,0.12), (42.09,0.15), (48.16,0.20), (54.26,0.24), (60.39,0.29)]\nOption C\n  waypoints xy: [(1.24,-0.23), (2.49,-0.70), (3.67,-1.39), (4.74,-2.28), (5.68,-3.39), (6.48,-4.75), (7.10,-6.36), (7.55,-8.15), (7.89,-10.05), (8.17,-12.04)]\nOption D\n  waypoints xy: [(7.55,0.10), (15.26,0.36), (23.09,0.76), (31.05,1.31), (39.12,1.97), (47.25,2.75), (55.42,3.59), (63.60,4.51), (71.80,5.47), (80.02,6.48)]\nOption E\n  waypoints xy: [(3.83,-0.02), (7.17,-0.04), (9.92,-0.08), (12.03,-0.11), (13.42,-0.13), (14.13,-0.15), (14.38,-0.15), (14.45,-0.15), (14.50,-0.15), (14.61,-0.15)]\nOption F\n  waypoints xy: [(6.79,-0.04), (13.45,-0.13), (19.94,-0.29), (26.27,-0.51), (32.39,-0.77), (38.29,-1.05), (43.97,-1.36), (49.41,-1.68), (54.62,-1.99), (59.61,-2.29)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":12.000416659433121,"cv_gap":42.753}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/b0b186a3a6e23839eb3bd89b9287ebb2-124/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/b0b186a3a6e23839eb3bd89b9287ebb2-124/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/b0b186a3a6e23839eb3bd89b9287ebb2-124/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 8.090 m/s at x-direction and 0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.549 m/s^2 at x-direction and -0.026 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b0b186a3a6e23839eb3bd89b9287ebb2-124"}},"extra_info":{"index":182,"token":"waymo_e2e::b0b186a3a6e23839eb3bd89b9287ebb2-124","id":"waymo_e2e::b0b186a3a6e23839eb3bd89b9287ebb2-124","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.63,-0.01), (6.78,-0.04), (9.30,-0.06), (11.06,-0.09), (12.07,-0.11), (12.49,-0.12), (12.59,-0.12), (12.61,-0.12), (12.67,-0.12), (12.86,-0.12)]\nOption B\n  waypoints xy: [(0.91,-0.42), (1.53,-0.87), (2.02,-1.37), (2.47,-2.01), (2.91,-2.87), (3.37,-3.97), (3.82,-5.30), (4.25,-6.89), (4.76,-8.70), (5.36,-10.69)]\nOption C\n  waypoints xy: [(7.30,-0.00), (14.58,0.00), (21.85,0.05), (29.06,0.15), (36.14,0.30), (43.06,0.48), (49.77,0.68), (56.28,0.98), (62.60,1.38), (68.71,1.86)]\nOption D\n  waypoints xy: [(4.80,0.24), (9.73,0.78), (14.80,1.57), (20.02,2.55), (25.34,3.70), (30.72,4.98), (36.08,6.34), (41.42,7.76), (46.74,9.23), (52.06,10.75)]\nOption E\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption F\n  waypoints xy: [(4.03,-0.01), (8.06,-0.02), (12.09,-0.04), (16.14,-0.05), (20.18,-0.05), (24.22,-0.06), (28.26,-0.07), (32.30,-0.08), (36.35,-0.06), (40.37,-0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.089572251884302,"cv_gap":27.856}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/f1abe0ee357d0fa1037f2a9c0161447c-117/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f1abe0ee357d0fa1037f2a9c0161447c-117/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f1abe0ee357d0fa1037f2a9c0161447c-117/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.105 m/s at x-direction and -0.001 m/s at y-direction. The ego vehicle's current acceleration is -0.473 m/s^2 at x-direction and -0.010 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::f1abe0ee357d0fa1037f2a9c0161447c-117"}},"extra_info":{"index":183,"token":"waymo_e2e::f1abe0ee357d0fa1037f2a9c0161447c-117","id":"waymo_e2e::f1abe0ee357d0fa1037f2a9c0161447c-117","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(12.75,-0.02), (25.51,-0.07), (38.31,-0.15), (51.13,-0.26), (63.98,-0.39), (76.86,-0.56), (89.76,-0.78), (102.67,-1.04), (115.59,-1.33), (128.51,-1.65)]\nOption B\n  waypoints xy: [(2.56,-0.02), (5.04,-0.04), (7.51,-0.07), (10.01,-0.09), (12.56,-0.10), (15.16,-0.10), (17.79,-0.09), (20.42,-0.06), (23.06,-0.01), (25.71,0.05)]\nOption C\n  waypoints xy: [(5.08,-0.02), (10.21,-0.06), (15.38,-0.11), (20.57,-0.18), (25.77,-0.25), (30.95,-0.34), (36.13,-0.43), (41.28,-0.54), (46.40,-0.66), (51.45,-0.78)]\nOption D\n  waypoints xy: [(8.57,-0.02), (17.16,-0.08), (25.77,-0.20), (34.39,-0.38), (43.02,-0.61), (51.65,-0.90), (60.25,-1.26), (68.83,-1.70), (77.37,-2.23), (85.87,-2.85)]\nOption E\n  waypoints xy: [(4.34,-0.01), (8.79,-0.03), (13.35,-0.06), (17.98,-0.10), (22.67,-0.16), (27.42,-0.24), (32.20,-0.33), (37.00,-0.45), (41.79,-0.58), (46.55,-0.71)]\nOption F\n  waypoints xy: [(2.20,-0.01), (4.11,-0.02), (5.70,-0.03), (6.98,-0.05), (7.95,-0.06), (8.63,-0.07), (9.05,-0.07), (9.28,-0.08), (9.43,-0.08), (9.56,-0.08)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.1049529700493,"cv_gap":16.364}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/cb6aab476e2d24703b0707a46e7b9f21-109/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/cb6aab476e2d24703b0707a46e7b9f21-109/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/cb6aab476e2d24703b0707a46e7b9f21-109/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.968 m/s at x-direction and -0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.447 m/s^2 at x-direction and 0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::cb6aab476e2d24703b0707a46e7b9f21-109"}},"extra_info":{"index":184,"token":"waymo_e2e::cb6aab476e2d24703b0707a46e7b9f21-109","id":"waymo_e2e::cb6aab476e2d24703b0707a46e7b9f21-109","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.55,0.02), (13.16,0.07), (19.83,0.14), (26.54,0.23), (33.30,0.34), (40.08,0.47), (46.87,0.60), (53.66,0.74), (60.44,0.90), (67.22,1.08)]\nOption B\n  waypoints xy: [(5.97,-0.04), (11.97,-0.12), (18.00,-0.27), (24.04,-0.46), (30.13,-0.68), (36.28,-0.95), (42.47,-1.24), (48.70,-1.57), (54.94,-1.93), (61.19,-2.30)]\nOption C\n  waypoints xy: [(2.21,-0.02), (3.98,-0.03), (5.30,-0.04), (6.28,-0.05), (6.98,-0.06), (7.38,-0.06), (7.54,-0.06), (7.55,-0.06), (7.55,-0.06), (7.55,-0.06)]\nOption D\n  waypoints xy: [(5.10,-0.11), (10.04,-0.34), (14.71,-0.66), (19.00,-1.01), (23.02,-1.33), (26.92,-1.65), (30.71,-1.92), (34.24,-2.10), (37.37,-2.19), (40.04,-2.18)]\nOption E\n  waypoints xy: [(2.34,-0.01), (4.74,-0.01), (7.21,-0.04), (9.75,-0.08), (12.34,-0.13), (14.97,-0.20), (17.51,-0.25), (19.94,-0.25), (22.29,-0.21), (24.51,-0.11)]\nOption F\n  waypoints xy: [(8.08,0.03), (16.11,0.06), (24.13,0.08), (32.04,0.12), (39.77,0.18), (47.38,0.26), (54.91,0.31), (62.24,0.35), (69.45,0.37), (76.63,0.38)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.967876960505353,"cv_gap":17.165}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"BGR49GXr0j","cam_id":"4_resize","sample_timestamps":["000000000846_000250000000","000000000846_000500000000","000000000846_000750000000","000000000847_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000847_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"BGR49GXr0j","cam_id":"2","sample_timestamps":["000000000845_000500000000","000000000846_000000000000","000000000846_000500000000","000000000847_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000847_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"BGR49GXr0j","cam_id":"7","sample_timestamps":["000000000845_000500000000","000000000846_000000000000","000000000846_000500000000","000000000847_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000847_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 2.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"BGR49GXr0j"}},"extra_info":{"index":185,"token":"BGR49GXr0j","id":"BGR49GXr0j","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.53,-0.00), (11.07,-0.01), (16.61,-0.01), (22.15,0.01), (27.68,0.05), (33.19,0.10), (38.69,0.18), (44.16,0.28), (49.62,0.40), (55.07,0.51)]\nOption B\n  waypoints xy: [(3.37,-0.01), (6.77,-0.03), (10.19,-0.04), (13.64,-0.07), (17.09,-0.10), (20.56,-0.13), (24.04,-0.19), (27.52,-0.26), (30.99,-0.35), (34.44,-0.44)]\nOption C\n  waypoints xy: [(1.39,-0.01), (2.80,-0.01), (4.23,-0.02), (5.66,-0.03), (7.07,-0.04), (8.47,-0.05), (9.86,-0.05), (11.24,-0.05), (12.61,-0.05), (13.98,-0.05)]\nOption D\n  waypoints xy: [(4.52,0.04), (9.01,0.11), (13.49,0.21), (17.95,0.34), (22.38,0.51), (26.77,0.70), (31.11,0.93), (35.42,1.19), (39.76,1.48), (44.09,1.81)]\nOption E\n  waypoints xy: [(3.44,-0.01), (6.85,-0.03), (10.26,-0.05), (13.67,-0.02), (17.11,0.08), (20.60,0.24), (24.15,0.46), (27.74,0.73), (31.40,1.00), (35.10,1.25)]\nOption F\n  waypoints xy: [(1.11,-0.00), (1.84,-0.00), (2.19,-0.00), (2.26,-0.00), (2.25,-0.00), (2.25,-0.00), (2.25,-0.00), (2.25,-0.00), (2.25,0.00), (2.25,-0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.8,"cv_gap":11.675}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/c46e804e9fcb887376492eae59663409-108/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/c46e804e9fcb887376492eae59663409-108/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/c46e804e9fcb887376492eae59663409-108/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 10.691 m/s at x-direction and -0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.170 m/s^2 at x-direction and -0.006 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c46e804e9fcb887376492eae59663409-108"}},"extra_info":{"index":186,"token":"waymo_e2e::c46e804e9fcb887376492eae59663409-108","id":"waymo_e2e::c46e804e9fcb887376492eae59663409-108","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.82,0.00), (9.25,0.01), (13.23,0.01), (16.68,0.02), (19.52,0.01), (21.76,-0.00), (23.38,-0.01), (24.45,-0.01), (25.11,-0.01), (25.51,-0.01)]\nOption B\n  waypoints xy: [(7.56,0.01), (15.10,0.03), (22.61,0.07), (30.10,0.12), (37.57,0.19), (45.01,0.28), (52.42,0.42), (59.78,0.64), (67.11,0.98), (74.40,1.41)]\nOption C\n  waypoints xy: [(5.30,-0.01), (10.62,-0.01), (15.96,-0.02), (21.31,-0.03), (26.68,-0.03), (32.05,-0.03), (37.43,-0.01), (42.80,0.02), (48.16,0.06), (53.52,0.11)]\nOption D\n  waypoints xy: [(2.71,-0.38), (5.15,-1.26), (7.25,-2.68), (8.91,-4.60), (10.09,-6.93), (10.86,-9.57), (11.34,-12.46), (11.68,-15.58), (11.94,-18.90), (12.19,-22.41)]\nOption E\n  waypoints xy: [(7.18,-0.00), (14.40,-0.01), (21.65,-0.04), (28.93,-0.09), (36.25,-0.14), (43.57,-0.17), (50.83,-0.19), (58.05,-0.21), (65.26,-0.26), (72.43,-0.34)]\nOption F\n  waypoints xy: [(1.80,0.50), (3.59,1.47), (5.27,2.93), (6.83,4.82), (8.35,7.00), (9.90,9.35), (11.48,11.81), (13.06,14.37), (14.66,16.99), (16.26,19.64)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.690713999094765,"cv_gap":28.466}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"yvdJ9vL1mg","cam_id":"4_resize","sample_timestamps":["000000003842_000900000000","000000003843_000400000000","000000003843_000900000000","000000003844_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003844_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"yvdJ9vL1mg","cam_id":"2","sample_timestamps":["000000003842_000900000000","000000003843_000400000000","000000003843_000900000000","000000003844_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003844_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"yvdJ9vL1mg","cam_id":"7","sample_timestamps":["000000003842_000900000000","000000003843_000400000000","000000003843_000900000000","000000003844_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003844_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.500 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"yvdJ9vL1mg"}},"extra_info":{"index":187,"token":"yvdJ9vL1mg","id":"yvdJ9vL1mg","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.28,-0.02), (10.58,-0.05), (15.91,-0.11), (21.24,-0.18), (26.58,-0.27), (31.90,-0.36), (37.21,-0.46), (42.50,-0.58), (47.74,-0.70), (52.94,-0.82)]\nOption B\n  waypoints xy: [(1.55,-0.00), (2.87,-0.01), (3.93,-0.01), (4.69,-0.01), (5.17,-0.01), (5.40,-0.01), (5.47,-0.01), (5.49,-0.01), (5.51,-0.01), (5.56,-0.01)]\nOption C\n  waypoints xy: [(6.50,0.00), (12.89,0.16), (19.20,0.46), (25.40,0.98), (31.47,1.48), (37.49,1.91), (43.53,2.19), (49.58,2.25), (55.64,2.17), (61.71,1.94)]\nOption D\n  waypoints xy: [(4.13,-0.01), (8.35,-0.01), (12.60,-0.01), (16.71,0.01), (20.65,0.07), (24.56,0.17), (28.48,0.35), (32.42,0.58), (36.39,0.85), (40.42,1.16)]\nOption E\n  waypoints xy: [(3.79,0.06), (7.86,0.20), (12.23,0.40), (16.90,0.69), (21.87,1.02), (27.07,1.42), (32.47,1.85), (38.02,2.30), (43.70,2.76), (49.46,3.25)]\nOption F\n  waypoints xy: [(1.77,0.01), (3.54,0.02), (5.32,0.05), (7.13,0.08), (8.95,0.12), (10.76,0.16), (12.53,0.21), (14.26,0.26), (15.97,0.31), (17.65,0.36)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.5014282800023193,"cv_gap":11.805}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/dda185bd08a5ad23d60ffad3ddba76c5-143/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/dda185bd08a5ad23d60ffad3ddba76c5-143/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/dda185bd08a5ad23d60ffad3ddba76c5-143/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 8.017 m/s at x-direction and -0.020 m/s at y-direction. The ego vehicle's current acceleration is -0.269 m/s^2 at x-direction and -0.003 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::dda185bd08a5ad23d60ffad3ddba76c5-143"}},"extra_info":{"index":188,"token":"waymo_e2e::dda185bd08a5ad23d60ffad3ddba76c5-143","id":"waymo_e2e::dda185bd08a5ad23d60ffad3ddba76c5-143","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.44,-0.01), (6.35,-0.03), (8.62,-0.05), (10.15,-0.08), (10.96,-0.09), (11.23,-0.09), (11.26,-0.10), (11.28,-0.10), (11.35,-0.10), (11.58,-0.10)]\nOption B\n  waypoints xy: [(6.87,-0.01), (13.92,-0.03), (21.17,-0.06), (28.55,-0.09), (36.05,-0.14), (43.65,-0.19), (51.34,-0.26), (59.09,-0.33), (66.87,-0.40), (74.65,-0.47)]\nOption C\n  waypoints xy: [(5.11,0.10), (10.11,0.36), (14.97,0.78), (19.66,1.32), (24.20,1.98), (28.61,2.77), (32.93,3.66), (37.18,4.61), (41.39,5.58), (45.59,6.57)]\nOption D\n  waypoints xy: [(1.27,-0.26), (2.38,-0.83), (3.26,-1.67), (3.87,-2.72), (4.17,-3.89), (4.15,-5.11), (3.85,-6.33), (3.27,-7.53), (2.46,-8.74), (1.43,-9.95)]\nOption E\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption F\n  waypoints xy: [(4.01,-0.00), (8.02,-0.00), (12.01,0.00), (16.01,0.01), (20.02,0.02), (24.03,0.02), (28.05,0.02), (32.08,0.03), (36.13,0.03), (40.16,0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.01685035822997,"cv_gap":28.858}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"3WInrsSXWr","cam_id":"4_resize","sample_timestamps":["000000011004_000600000000","000000011005_000100000000","000000011005_000600000000","000000011006_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000011006_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"3WInrsSXWr","cam_id":"2","sample_timestamps":["000000011004_000600000000","000000011005_000100000000","000000011005_000600000000","000000011006_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000011006_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"3WInrsSXWr","cam_id":"7","sample_timestamps":["000000011004_000600000000","000000011005_000100000000","000000011005_000600000000","000000011006_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000011006_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.100 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"3WInrsSXWr"}},"extra_info":{"index":189,"token":"3WInrsSXWr","id":"3WInrsSXWr","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.11,0.00), (6.21,0.00), (9.30,-0.01), (12.37,-0.03), (15.43,-0.06), (18.46,-0.09), (21.45,-0.12), (24.40,-0.15), (27.32,-0.18), (30.20,-0.21)]\nOption B\n  waypoints xy: [(5.62,0.01), (11.11,0.03), (16.44,0.04), (21.58,0.06), (26.53,0.09), (31.29,0.12), (35.87,0.16), (40.31,0.22), (44.64,0.28), (48.86,0.36)]\nOption C\n  waypoints xy: [(2.89,0.01), (5.38,0.02), (7.37,0.02), (8.83,0.03), (9.75,0.03), (10.19,0.04), (10.29,0.04), (10.30,0.04), (10.32,0.04), (10.42,0.04)]\nOption D\n  waypoints xy: [(5.27,0.11), (10.56,0.37), (15.86,0.70), (20.96,1.01), (25.54,1.24), (29.37,1.39), (32.37,1.47), (34.61,1.53), (36.40,1.57), (38.14,1.61)]\nOption E\n  waypoints xy: [(7.99,-0.02), (15.98,-0.05), (23.95,-0.11), (31.89,-0.20), (39.80,-0.32), (47.66,-0.48), (55.48,-0.66), (63.26,-0.87), (70.99,-1.09), (78.66,-1.33)]\nOption F\n  waypoints xy: [(5.14,0.01), (10.22,0.02), (15.24,0.05), (20.20,0.10), (25.08,0.15), (29.88,0.21), (34.60,0.28), (39.25,0.35), (43.82,0.41), (48.32,0.48)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.1,"cv_gap":19.912}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/75a45f53c35b417dc8d59eb5a9dbd5a1-142/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/75a45f53c35b417dc8d59eb5a9dbd5a1-142/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/75a45f53c35b417dc8d59eb5a9dbd5a1-142/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.956 m/s at x-direction and 0.008 m/s at y-direction. The ego vehicle's current acceleration is -0.205 m/s^2 at x-direction and -0.036 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::75a45f53c35b417dc8d59eb5a9dbd5a1-142"}},"extra_info":{"index":190,"token":"waymo_e2e::75a45f53c35b417dc8d59eb5a9dbd5a1-142","id":"waymo_e2e::75a45f53c35b417dc8d59eb5a9dbd5a1-142","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption B\n  waypoints xy: [(6.82,0.01), (13.63,0.04), (20.44,0.08), (27.25,0.14), (34.07,0.19), (40.90,0.24), (47.74,0.27), (54.57,0.30), (61.37,0.33), (68.17,0.37)]\nOption C\n  waypoints xy: [(4.04,-0.01), (8.51,-0.02), (13.38,-0.05), (18.61,-0.09), (24.21,-0.11), (30.14,-0.09), (36.37,-0.05), (42.89,0.02), (49.64,0.08), (56.53,0.13)]\nOption D\n  waypoints xy: [(2.48,0.01), (4.98,0.03), (7.50,0.06), (10.00,0.10), (12.50,0.13), (14.97,0.17), (17.41,0.20), (19.82,0.23), (22.19,0.26), (24.52,0.28)]\nOption E\n  waypoints xy: [(2.54,-0.03), (4.90,-0.08), (7.06,-0.15), (8.97,-0.23), (10.56,-0.30), (11.82,-0.37), (12.74,-0.42), (13.32,-0.45), (13.64,-0.47), (13.76,-0.48)]\nOption F\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.955754893702546,"cv_gap":11.638}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"aWz3GozzRn","cam_id":"4_resize","sample_timestamps":["000000023917_000800000000","000000023918_000300000000","000000023918_000800000000","000000023919_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000023919_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"aWz3GozzRn","cam_id":"2","sample_timestamps":["000000023917_000800000000","000000023918_000300000000","000000023918_000800000000","000000023919_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000023919_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"aWz3GozzRn","cam_id":"7","sample_timestamps":["000000023917_000800000000","000000023918_000300000000","000000023918_000800000000","000000023919_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000023919_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.100 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -2.400 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"aWz3GozzRn"}},"extra_info":{"index":191,"token":"aWz3GozzRn","id":"aWz3GozzRn","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.84,-0.02), (11.72,-0.01), (17.66,0.01), (23.63,0.04), (29.66,0.08), (35.71,0.13), (41.80,0.18), (47.95,0.22), (54.13,0.24), (60.35,0.25)]\nOption B\n  waypoints xy: [(3.84,-0.00), (7.72,-0.01), (11.64,-0.02), (15.60,-0.04), (19.57,-0.05), (23.53,-0.06), (27.47,-0.07), (31.38,-0.08), (35.25,-0.09), (39.05,-0.10)]\nOption C\n  waypoints xy: [(4.02,0.01), (8.04,0.04), (12.06,0.09), (16.06,0.14), (20.03,0.21), (23.95,0.28), (27.81,0.34), (31.62,0.39), (35.36,0.41), (39.04,0.39)]\nOption D\n  waypoints xy: [(5.19,-0.02), (10.39,-0.06), (15.58,-0.13), (20.77,-0.23), (25.91,-0.37), (30.96,-0.53), (35.89,-0.71), (40.69,-0.89), (45.35,-1.07), (49.87,-1.25)]\nOption E\n  waypoints xy: [(2.65,-0.00), (5.26,-0.00), (7.85,0.00), (10.41,0.01), (12.93,0.02), (15.41,0.04), (17.88,0.06), (20.35,0.08), (22.85,0.10), (25.39,0.12)]\nOption F\n  waypoints xy: [(1.29,-0.00), (2.38,-0.00), (3.24,-0.00), (3.86,0.00), (4.28,0.00), (4.55,0.00), (4.75,0.01), (4.90,0.01), (5.05,0.01), (5.22,0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.10098029794274,"cv_gap":19.436}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"PTYn1Ae0Qe","cam_id":"4_resize","sample_timestamps":["000000000794_000200000000","000000000794_000700000000","000000000795_000200000000","000000000795_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000795_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PTYn1Ae0Qe","cam_id":"2","sample_timestamps":["000000000794_000200000000","000000000794_000700000000","000000000795_000200000000","000000000795_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000795_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PTYn1Ae0Qe","cam_id":"7","sample_timestamps":["000000000794_000200000000","000000000794_000700000000","000000000795_000200000000","000000000795_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000795_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.500 m/s at x-direction and 0.200 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"PTYn1Ae0Qe"}},"extra_info":{"index":192,"token":"PTYn1Ae0Qe","id":"PTYn1Ae0Qe","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.10,-0.05), (14.22,-0.18), (21.37,-0.44), (28.52,-0.79), (35.67,-1.25), (42.83,-1.80), (49.97,-2.41), (57.09,-3.08), (64.18,-3.79), (71.24,-4.52)]\nOption B\n  waypoints xy: [(0.44,-0.03), (0.81,-0.09), (1.08,-0.14), (1.26,-0.18), (1.36,-0.21), (1.41,-0.23), (1.45,-0.24), (1.50,-0.25), (1.55,-0.27), (1.60,-0.29)]\nOption C\n  waypoints xy: [(4.36,-0.00), (8.48,-0.01), (12.28,-0.01), (15.71,-0.02), (18.71,-0.04), (21.23,-0.06), (23.21,-0.07), (24.63,-0.08), (25.55,-0.09), (26.07,-0.09)]\nOption D\n  waypoints xy: [(6.61,-0.03), (13.24,-0.09), (19.90,-0.16), (26.57,-0.27), (33.26,-0.40), (39.97,-0.57), (46.70,-0.76), (53.45,-0.95), (60.20,-1.16), (66.96,-1.37)]\nOption E\n  waypoints xy: [(3.79,0.02), (7.50,0.05), (11.13,0.12), (14.67,0.20), (18.15,0.30), (21.55,0.41), (24.88,0.53), (28.13,0.66), (31.30,0.79), (34.41,0.91)]\nOption F\n  waypoints xy: [(0.75,0.03), (1.51,0.08), (2.28,0.15), (3.06,0.25), (3.84,0.36), (4.63,0.48), (5.42,0.62), (6.22,0.77), (7.02,0.94), (7.80,1.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5132745950421556,"cv_gap":6.047}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"OfAKYJsydA","cam_id":"4_resize","sample_timestamps":["000000001626_000200000000","000000001626_000700000000","000000001627_000200000000","000000001627_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001627_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OfAKYJsydA","cam_id":"2","sample_timestamps":["000000001626_000200000000","000000001626_000700000000","000000001627_000200000000","000000001627_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001627_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OfAKYJsydA","cam_id":"7","sample_timestamps":["000000001626_000200000000","000000001626_000700000000","000000001627_000200000000","000000001627_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001627_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 9.200 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"OfAKYJsydA"}},"extra_info":{"index":193,"token":"OfAKYJsydA","id":"OfAKYJsydA","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.89,-0.00), (11.72,0.00), (17.41,0.01), (22.94,0.02), (28.32,0.04), (33.56,0.06), (38.63,0.07), (43.53,0.08), (48.24,0.09), (52.75,0.09)]\nOption B\n  waypoints xy: [(3.69,-0.00), (7.14,0.00), (10.27,0.01), (13.04,0.01), (15.42,0.02), (17.33,0.02), (18.76,0.03), (19.74,0.03), (20.32,0.03), (20.60,0.03)]\nOption C\n  waypoints xy: [(1.29,0.63), (2.59,1.85), (3.68,3.53), (4.50,5.46), (5.13,7.49), (5.69,9.50), (6.30,11.62), (6.97,13.88), (7.70,16.30), (8.48,18.80)]\nOption D\n  waypoints xy: [(2.00,-0.30), (3.98,-0.92), (5.83,-1.91), (7.51,-3.23), (8.98,-4.83), (10.25,-6.66), (11.33,-8.64), (12.26,-10.72), (13.11,-12.88), (13.96,-15.15)]\nOption E\n  waypoints xy: [(12.96,-0.08), (25.99,-0.32), (39.06,-0.72), (52.18,-1.27), (65.33,-1.95), (78.51,-2.73), (91.71,-3.61), (104.92,-4.54), (118.15,-5.52), (131.39,-6.54)]\nOption F\n  waypoints xy: [(4.49,-0.01), (9.05,-0.03), (13.65,-0.04), (18.26,-0.06), (22.89,-0.08), (27.52,-0.09), (32.14,-0.11), (36.74,-0.12), (41.27,-0.12), (45.74,-0.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.200543462209176,"cv_gap":24.556}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"bmw4FMqqJM","cam_id":"4_resize","sample_timestamps":["000000014279_000700000000","000000014280_000200000000","000000014280_000700000000","000000014281_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000014281_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bmw4FMqqJM","cam_id":"2","sample_timestamps":["000000014279_000700000000","000000014280_000200000000","000000014280_000700000000","000000014281_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000014281_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bmw4FMqqJM","cam_id":"7","sample_timestamps":["000000014279_000700000000","000000014280_000200000000","000000014280_000700000000","000000014281_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000014281_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"bmw4FMqqJM"}},"extra_info":{"index":194,"token":"bmw4FMqqJM","id":"bmw4FMqqJM","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.84,-0.02), (9.69,-0.04), (14.54,-0.06), (19.39,-0.08), (24.22,-0.09), (29.06,-0.08), (33.89,-0.08), (38.72,-0.07), (43.56,-0.05), (48.38,-0.03)]\nOption B\n  waypoints xy: [(2.16,0.47), (4.27,1.44), (6.15,2.91), (7.69,4.74), (8.90,6.80), (9.84,8.93), (10.63,11.11), (11.35,13.36), (12.03,15.72), (12.70,18.19)]\nOption C\n  waypoints xy: [(8.09,0.00), (16.18,0.02), (24.24,0.05), (32.26,0.09), (40.23,0.12), (48.15,0.16), (56.00,0.21), (63.78,0.29), (71.49,0.37), (79.15,0.46)]\nOption D\n  waypoints xy: [(4.01,-0.00), (7.79,0.01), (11.21,0.05), (14.12,0.14), (16.45,0.22), (18.25,0.28), (19.66,0.33), (20.77,0.36), (21.65,0.39), (22.22,0.40)]\nOption E\n  waypoints xy: [(0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00)]\nOption F\n  waypoints xy: [(1.68,-0.07), (3.55,-0.36), (5.51,-1.06), (7.30,-2.27), (8.72,-4.04), (9.62,-6.29), (10.01,-8.98), (10.14,-12.11), (10.18,-15.69), (10.26,-19.71)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.7,"cv_gap":26.002}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-203/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-203/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-203/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.079 m/s at x-direction and 0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.412 m/s^2 at x-direction and 0.040 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-203"}},"extra_info":{"index":195,"token":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-203","id":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-203","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00)]\nOption B\n  waypoints xy: [(4.38,-0.01), (8.32,-0.04), (11.78,-0.14), (14.76,-0.46), (17.30,-1.10), (19.40,-2.10), (21.08,-3.47), (22.32,-5.14), (23.13,-7.06), (23.59,-9.21)]\nOption C\n  waypoints xy: [(0.44,0.00), (1.36,0.02), (2.80,0.04), (4.74,0.06), (7.18,0.09), (10.10,0.13), (13.46,0.17), (17.18,0.23), (21.13,0.29), (25.32,0.36)]\nOption D\n  waypoints xy: [(0.31,-0.01), (0.56,-0.01), (0.73,-0.01), (0.85,-0.02), (0.92,-0.02), (0.97,-0.02), (1.02,-0.02), (1.10,-0.02), (1.24,-0.02), (1.45,-0.02)]\nOption E\n  waypoints xy: [(5.05,-0.00), (10.09,0.00), (15.12,0.01), (20.13,0.03), (25.14,0.05), (30.15,0.05), (35.16,0.04), (40.17,0.02), (45.15,0.00), (50.07,-0.00)]\nOption F\n  waypoints xy: [(1.84,-0.42), (3.57,-1.33), (5.06,-2.81), (6.16,-4.78), (7.04,-7.13), (7.87,-9.83), (8.66,-12.86), (9.34,-16.13), (9.95,-19.53), (10.50,-23.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.079053638990176,"cv_gap":29.534}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"swreKY9eOH","cam_id":"4_resize","sample_timestamps":["000000002424_000500000000","000000002425_000000000000","000000002425_000500000000","000000002426_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002426_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"swreKY9eOH","cam_id":"2","sample_timestamps":["000000002424_000500000000","000000002425_000000000000","000000002425_000500000000","000000002426_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002426_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"swreKY9eOH","cam_id":"7","sample_timestamps":["000000002424_000500000000","000000002425_000000000000","000000002425_000500000000","000000002426_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002426_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with a constant speed**. The ego vehicle's current velocity is 2.000 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and 0.600 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"swreKY9eOH"}},"extra_info":{"index":196,"token":"swreKY9eOH","id":"swreKY9eOH","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.79,-0.01), (9.52,-0.03), (14.16,-0.05), (18.67,-0.07), (23.00,-0.10), (27.10,-0.12), (30.89,-0.15), (34.32,-0.19), (37.39,-0.22), (40.10,-0.25)]\nOption B\n  waypoints xy: [(1.08,0.12), (2.18,0.44), (3.30,0.96), (4.44,1.66), (5.59,2.52), (6.76,3.48), (7.94,4.52), (9.13,5.60), (10.33,6.68), (11.53,7.77)]\nOption C\n  waypoints xy: [(8.52,0.02), (17.17,0.13), (25.96,0.29), (34.86,0.52), (43.85,0.82), (52.91,1.20), (62.05,1.64), (71.25,2.14), (80.50,2.70), (89.78,3.29)]\nOption D\n  waypoints xy: [(1.13,-0.04), (2.23,-0.13), (3.30,-0.25), (4.31,-0.38), (5.27,-0.54), (6.17,-0.70), (7.02,-0.86), (7.85,-1.04), (8.68,-1.23), (9.50,-1.43)]\nOption E\n  waypoints xy: [(1.24,-0.23), (2.49,-0.70), (3.67,-1.39), (4.74,-2.28), (5.68,-3.39), (6.48,-4.75), (7.10,-6.36), (7.55,-8.15), (7.89,-10.05), (8.17,-12.04)]\nOption F\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.0223748416156684,"cv_gap":9.272}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/793898ef1f0cef6a0c754c7aab5af949-103/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/793898ef1f0cef6a0c754c7aab5af949-103/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/793898ef1f0cef6a0c754c7aab5af949-103/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.403 m/s at x-direction and -0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.427 m/s^2 at x-direction and 0.020 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::793898ef1f0cef6a0c754c7aab5af949-103"}},"extra_info":{"index":197,"token":"waymo_e2e::793898ef1f0cef6a0c754c7aab5af949-103","id":"waymo_e2e::793898ef1f0cef6a0c754c7aab5af949-103","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.57,0.03), (13.11,0.09), (19.62,0.21), (26.10,0.41), (32.57,0.67), (39.04,1.01), (45.50,1.41), (51.92,1.86), (58.31,2.36), (64.65,2.91)]\nOption B\n  waypoints xy: [(4.22,-0.00), (8.45,0.00), (12.68,0.01), (16.91,0.02), (21.13,0.04), (25.32,0.05), (29.47,0.06), (33.56,0.07), (37.59,0.08), (41.56,0.09)]\nOption C\n  waypoints xy: [(1.29,0.63), (2.59,1.85), (3.68,3.53), (4.50,5.46), (5.13,7.49), (5.69,9.50), (6.30,11.62), (6.97,13.88), (7.70,16.30), (8.48,18.80)]\nOption D\n  waypoints xy: [(6.61,-0.01), (13.27,-0.03), (19.98,-0.05), (26.75,-0.08), (33.58,-0.11), (40.46,-0.15), (47.42,-0.19), (54.45,-0.24), (61.55,-0.28), (68.71,-0.32)]\nOption E\n  waypoints xy: [(3.69,-0.00), (7.14,0.00), (10.27,0.01), (13.04,0.01), (15.42,0.02), (17.33,0.02), (18.76,0.03), (19.74,0.03), (20.32,0.03), (20.60,0.03)]\nOption F\n  waypoints xy: [(2.00,-0.30), (3.98,-0.92), (5.83,-1.91), (7.51,-3.23), (8.98,-4.83), (10.25,-6.66), (11.33,-8.64), (12.26,-10.72), (13.11,-12.88), (13.96,-15.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.402751128330825,"cv_gap":21.17}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"2K6DvFUy1x","cam_id":"4_resize","sample_timestamps":["000000001312_000700000000","000000001313_000200000000","000000001313_000700000000","000000001314_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001314_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2K6DvFUy1x","cam_id":"2","sample_timestamps":["000000001312_000700000000","000000001313_000200000000","000000001313_000700000000","000000001314_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001314_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2K6DvFUy1x","cam_id":"7","sample_timestamps":["000000001312_000700000000","000000001313_000200000000","000000001313_000700000000","000000001314_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001314_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"2K6DvFUy1x"}},"extra_info":{"index":198,"token":"2K6DvFUy1x","id":"2K6DvFUy1x","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.90,-0.00), (1.68,-0.01), (2.33,-0.01), (2.86,-0.02), (3.29,-0.02), (3.63,-0.03), (3.91,-0.03), (4.16,-0.03), (4.43,-0.03), (4.78,-0.03)]\nOption B\n  waypoints xy: [(5.36,0.03), (10.80,0.09), (16.31,0.19), (21.89,0.33), (27.53,0.51), (33.20,0.70), (38.90,0.90), (44.60,1.10), (50.28,1.31), (55.95,1.51)]\nOption C\n  waypoints xy: [(12.62,-0.01), (25.21,-0.05), (37.81,-0.09), (50.44,-0.14), (63.14,-0.21), (75.92,-0.30), (88.80,-0.41), (101.77,-0.54), (114.81,-0.69), (127.91,-0.88)]\nOption D\n  waypoints xy: [(7.22,-0.01), (14.58,-0.03), (22.10,-0.06), (29.75,-0.09), (37.50,-0.12), (45.32,-0.14), (53.18,-0.16), (61.08,-0.16), (69.01,-0.16), (76.96,-0.14)]\nOption E\n  waypoints xy: [(0.97,-0.00), (1.96,-0.01), (2.96,-0.01), (3.97,-0.02), (4.99,-0.04), (6.02,-0.05), (7.05,-0.06), (8.07,-0.08), (9.09,-0.10), (10.10,-0.12)]\nOption F\n  waypoints xy: [(4.64,0.03), (9.41,0.11), (14.31,0.23), (19.31,0.38), (24.39,0.55), (29.52,0.74), (34.69,0.93), (39.86,1.10), (45.05,1.25), (50.23,1.39)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.0,"cv_gap":5.35}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/80839ace3aad7c5025f2a266b180d272-207/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/80839ace3aad7c5025f2a266b180d272-207/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/80839ace3aad7c5025f2a266b180d272-207/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.846 m/s at x-direction and 0.016 m/s at y-direction. The ego vehicle's current acceleration is -0.457 m/s^2 at x-direction and 0.018 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::80839ace3aad7c5025f2a266b180d272-207"}},"extra_info":{"index":199,"token":"waymo_e2e::80839ace3aad7c5025f2a266b180d272-207","id":"waymo_e2e::80839ace3aad7c5025f2a266b180d272-207","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.82,0.03), (7.71,0.10), (11.64,0.21), (15.60,0.35), (19.56,0.51), (23.51,0.69), (27.43,0.86), (31.30,1.04), (35.11,1.21), (38.83,1.37)]\nOption B\n  waypoints xy: [(4.38,-0.01), (8.73,-0.01), (13.07,-0.02), (17.44,-0.00), (21.83,0.03), (26.24,-0.07), (30.67,-0.23), (35.12,-0.36), (39.65,-0.46), (44.23,-0.56)]\nOption C\n  waypoints xy: [(2.05,-0.00), (3.65,-0.01), (4.78,-0.01), (5.44,-0.01), (5.69,-0.01), (5.72,-0.01), (5.72,-0.01), (5.72,-0.01), (5.72,-0.01), (5.78,-0.01)]\nOption D\n  waypoints xy: [(8.55,-0.04), (17.10,-0.11), (25.63,-0.17), (34.03,-0.09), (42.23,0.14), (50.17,0.50), (57.82,0.93), (65.18,1.40), (72.25,1.87), (79.05,2.34)]\nOption E\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption F\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.845709281713012,"cv_gap":18.42}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/63ec25468954b1f19c342062e01bbe4f-052/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/63ec25468954b1f19c342062e01bbe4f-052/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/63ec25468954b1f19c342062e01bbe4f-052/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 3.502 m/s at x-direction and -0.011 m/s at y-direction. The ego vehicle's current acceleration is -0.238 m/s^2 at x-direction and -0.010 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::63ec25468954b1f19c342062e01bbe4f-052"}},"extra_info":{"index":200,"token":"waymo_e2e::63ec25468954b1f19c342062e01bbe4f-052","id":"waymo_e2e::63ec25468954b1f19c342062e01bbe4f-052","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.72,-0.00), (9.47,-0.00), (14.23,0.00), (19.00,0.01), (23.78,0.01), (28.55,0.02), (33.32,0.02), (38.09,0.03), (42.85,0.03), (47.59,0.04)]\nOption B\n  waypoints xy: [(4.76,0.09), (9.33,0.32), (13.64,0.66), (17.67,1.07), (21.35,1.51), (24.66,1.95), (27.63,2.40), (30.23,2.84), (32.46,3.29), (34.31,3.73)]\nOption C\n  waypoints xy: [(7.18,0.02), (14.39,0.08), (21.64,0.15), (28.92,0.24), (36.24,0.32), (43.62,0.35), (51.07,0.31), (58.55,0.24), (65.96,0.16), (73.36,0.12)]\nOption D\n  waypoints xy: [(1.67,-0.00), (3.38,-0.00), (5.13,-0.00), (6.91,-0.01), (8.69,-0.01), (10.48,-0.03), (12.27,-0.05), (14.04,-0.09), (15.80,-0.13), (17.53,-0.19)]\nOption E\n  waypoints xy: [(1.65,-0.00), (3.05,-0.00), (4.25,-0.01), (5.25,-0.01), (6.01,-0.01), (6.54,-0.01), (6.89,-0.01), (7.12,-0.01), (7.28,-0.01), (7.43,-0.01)]\nOption F\n  waypoints xy: [(5.56,-0.04), (11.11,-0.16), (16.63,-0.36), (22.12,-0.64), (27.54,-1.01), (32.90,-1.50), (38.18,-2.09), (43.40,-2.79), (48.55,-3.59), (53.60,-4.48)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.5021781855694223,"cv_gap":10.179}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"aTtoHFJxwL","cam_id":"4_resize","sample_timestamps":["000000014412_000000000000","000000014412_000500000000","000000014413_000000000000","000000014413_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000014413_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"aTtoHFJxwL","cam_id":"2","sample_timestamps":["000000014412_000000000000","000000014412_000500000000","000000014413_000000000000","000000014413_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000014413_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"aTtoHFJxwL","cam_id":"7","sample_timestamps":["000000014412_000000000000","000000014412_000500000000","000000014413_000000000000","000000014413_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000014413_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.300 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.200 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"aTtoHFJxwL"}},"extra_info":{"index":201,"token":"aTtoHFJxwL","id":"aTtoHFJxwL","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.99,-0.04), (8.10,-0.13), (12.33,-0.24), (16.68,-0.39), (21.13,-0.56), (25.68,-0.76), (30.30,-0.96), (34.99,-1.17), (39.73,-1.38), (44.51,-1.58)]\nOption B\n  waypoints xy: [(0.56,0.00), (0.99,0.00), (1.30,0.00), (1.48,-0.00), (1.55,-0.00), (1.57,-0.00), (1.57,0.00), (1.58,0.00), (1.59,0.00), (1.64,0.00)]\nOption C\n  waypoints xy: [(3.97,-0.01), (7.77,-0.03), (11.37,-0.05), (14.71,-0.08), (17.75,-0.10), (20.49,-0.13), (22.96,-0.15), (25.19,-0.19), (27.19,-0.25), (28.97,-0.33)]\nOption D\n  waypoints xy: [(1.14,0.00), (2.31,0.00), (3.48,0.01), (4.65,0.01), (5.81,0.01), (6.98,0.01), (8.14,0.01), (9.28,0.02), (10.39,0.02), (11.47,0.03)]\nOption E\n  waypoints xy: [(3.85,0.00), (7.90,0.01), (12.18,0.03), (16.67,0.04), (21.37,0.06), (26.26,0.08), (31.32,0.10), (36.53,0.12), (41.85,0.16), (47.25,0.20)]\nOption F\n  waypoints xy: [(3.97,0.01), (7.87,0.02), (11.68,0.04), (15.38,0.06), (18.96,0.08), (22.40,0.11), (25.67,0.14), (28.76,0.16), (31.67,0.18), (34.41,0.19)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.3,"cv_gap":9.862}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"jNXWfQliOp","cam_id":"4_resize","sample_timestamps":["000000002985_000300000000","000000002985_000800000000","000000002986_000300000000","000000002986_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002986_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"jNXWfQliOp","cam_id":"2","sample_timestamps":["000000002985_000300000000","000000002985_000800000000","000000002986_000300000000","000000002986_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002986_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"jNXWfQliOp","cam_id":"7","sample_timestamps":["000000002985_000300000000","000000002985_000800000000","000000002986_000300000000","000000002986_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002986_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn left with a constant speed**. The ego vehicle's current velocity is 5.700 m/s at x-direction and -0.600 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and 0.900 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"jNXWfQliOp"}},"extra_info":{"index":202,"token":"jNXWfQliOp","id":"jNXWfQliOp","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.66,0.00), (9.23,0.04), (13.71,0.11), (18.03,0.25), (22.18,0.46), (26.16,0.73), (29.95,1.05), (33.55,1.40), (36.97,1.78), (40.21,2.20)]\nOption B\n  waypoints xy: [(6.70,0.03), (13.41,0.13), (20.12,0.31), (26.84,0.57), (33.55,0.90), (40.25,1.27), (46.94,1.64), (53.62,2.00), (60.30,2.32), (66.97,2.64)]\nOption C\n  waypoints xy: [(1.79,-0.00), (3.52,-0.09), (5.11,-0.28), (6.49,-0.56), (7.68,-1.03), (8.67,-1.60), (9.44,-2.25), (10.05,-2.94), (10.47,-3.63), (10.76,-4.22)]\nOption D\n  waypoints xy: [(7.25,0.03), (14.53,0.09), (21.85,0.18), (29.22,0.31), (36.63,0.48), (44.08,0.68), (51.57,0.93), (59.09,1.22), (66.63,1.56), (74.19,1.93)]\nOption E\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption F\n  waypoints xy: [(2.57,-0.06), (5.24,-0.20), (8.01,-0.41), (10.89,-0.67), (13.88,-0.99), (16.95,-1.37), (20.06,-1.80), (23.17,-2.29), (26.25,-2.82), (29.29,-3.38)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.73149195236284,"cv_gap":18.139}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"6pkJOdFfeM","cam_id":"4_resize","sample_timestamps":["000000006024_000250000000","000000006024_000500000000","000000006024_000750000000","000000006025_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006025_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"6pkJOdFfeM","cam_id":"2","sample_timestamps":["000000006023_000500000000","000000006024_000000000000","000000006024_000500000000","000000006025_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006025_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"6pkJOdFfeM","cam_id":"7","sample_timestamps":["000000006023_000500000000","000000006024_000000000000","000000006024_000500000000","000000006025_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006025_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.300 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"6pkJOdFfeM"}},"extra_info":{"index":203,"token":"6pkJOdFfeM","id":"6pkJOdFfeM","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.90,0.00), (3.86,0.00), (5.87,0.00), (7.87,0.01), (9.87,0.00), (11.88,-0.00), (13.86,-0.01), (15.83,-0.03), (17.77,-0.06), (19.65,-0.12)]\nOption B\n  waypoints xy: [(5.73,0.06), (11.34,0.18), (16.83,0.30), (22.20,0.48), (27.44,0.76), (32.60,0.99), (37.72,1.17), (42.78,1.29), (47.76,1.30), (52.63,1.26)]\nOption C\n  waypoints xy: [(4.59,0.02), (9.19,0.06), (13.80,0.13), (18.37,0.23), (22.88,0.35), (27.30,0.49), (31.61,0.64), (35.79,0.80), (39.85,0.95), (43.77,1.08)]\nOption D\n  waypoints xy: [(8.87,-0.01), (17.78,-0.03), (26.75,-0.09), (35.79,-0.12), (44.89,-0.20), (54.05,-0.29), (63.27,-0.37), (72.55,-0.45), (81.88,-0.57), (91.25,-0.69)]\nOption E\n  waypoints xy: [(1.71,-0.00), (3.20,0.00), (4.47,0.01), (5.55,0.03), (6.48,0.05), (7.29,0.08), (8.04,0.11), (8.80,0.15), (9.59,0.19), (10.42,0.23)]\nOption F\n  waypoints xy: [(5.13,0.00), (10.28,-0.05), (15.46,-0.17), (20.67,-0.40), (25.96,-0.70), (31.30,-1.12), (36.67,-1.61), (42.07,-2.23), (47.52,-2.92), (53.02,-3.68)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.9,"cv_gap":9.436}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Z78HwKtMHp","cam_id":"4_resize","sample_timestamps":["000000004844_000950000000","000000004845_000200000000","000000004845_000450000000","000000004845_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004845_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Z78HwKtMHp","cam_id":"2","sample_timestamps":["000000004844_000200000000","000000004844_000700000000","000000004845_000200000000","000000004845_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004845_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Z78HwKtMHp","cam_id":"7","sample_timestamps":["000000004844_000200000000","000000004844_000700000000","000000004845_000200000000","000000004845_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004845_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.300 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.900 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"Z78HwKtMHp"}},"extra_info":{"index":204,"token":"Z78HwKtMHp","id":"Z78HwKtMHp","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.43,-0.00), (8.85,0.02), (13.23,-0.00), (17.65,-0.09), (22.08,-0.19), (26.55,-0.26), (31.05,-0.27), (35.56,-0.22), (40.12,-0.10), (44.74,0.11)]\nOption B\n  waypoints xy: [(6.69,-0.07), (13.32,-0.24), (19.90,-0.50), (26.43,-0.85), (32.91,-1.26), (39.32,-1.75), (45.67,-2.29), (51.95,-2.89), (58.13,-3.52), (64.24,-4.17)]\nOption C\n  waypoints xy: [(1.78,-0.02), (3.42,-0.05), (4.92,-0.07), (6.25,-0.08), (7.38,-0.09), (8.26,-0.09), (8.90,-0.09), (9.33,-0.09), (9.63,-0.09), (9.84,-0.09)]\nOption D\n  waypoints xy: [(2.21,0.02), (4.41,0.06), (6.60,0.12), (8.77,0.17), (10.93,0.23), (13.10,0.28), (15.27,0.32), (17.44,0.35), (19.58,0.36), (21.68,0.34)]\nOption E\n  waypoints xy: [(5.31,-0.01), (10.58,-0.02), (15.80,-0.03), (20.98,-0.02), (26.09,-0.02), (31.09,-0.00), (35.95,0.02), (40.62,0.04), (45.09,0.07), (49.34,0.09)]\nOption F\n  waypoints xy: [(5.22,-0.01), (10.44,-0.02), (15.65,-0.02), (20.84,-0.03), (25.93,-0.04), (30.88,-0.05), (35.69,-0.06), (40.36,-0.06), (44.88,-0.05), (49.24,-0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.301162633521313,"cv_gap":11.775}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/bbaacc9b2a4e738d3720da40db9661bd-166/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/bbaacc9b2a4e738d3720da40db9661bd-166/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/bbaacc9b2a4e738d3720da40db9661bd-166/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.060 m/s at x-direction and 0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.159 m/s^2 at x-direction and -0.007 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::bbaacc9b2a4e738d3720da40db9661bd-166"}},"extra_info":{"index":205,"token":"waymo_e2e::bbaacc9b2a4e738d3720da40db9661bd-166","id":"waymo_e2e::bbaacc9b2a4e738d3720da40db9661bd-166","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.37,-0.01), (9.10,-0.01), (14.17,-0.00), (19.54,0.02), (25.18,0.06), (31.10,0.11), (37.27,0.22), (43.65,0.37), (50.15,0.62), (56.72,0.94)]\nOption B\n  waypoints xy: [(2.86,-0.01), (5.80,-0.01), (8.81,-0.01), (11.90,0.00), (15.03,0.02), (18.17,0.05), (21.27,0.08), (24.29,0.12), (27.19,0.16), (29.95,0.19)]\nOption C\n  waypoints xy: [(0.91,-0.42), (1.53,-0.87), (2.02,-1.37), (2.47,-2.01), (2.91,-2.87), (3.37,-3.97), (3.82,-5.30), (4.25,-6.89), (4.76,-8.70), (5.36,-10.69)]\nOption D\n  waypoints xy: [(3.10,-0.00), (5.83,-0.00), (8.14,0.01), (9.97,0.02), (11.30,0.03), (12.16,0.04), (12.60,0.04), (12.75,0.04), (12.78,0.04), (12.82,0.04)]\nOption E\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption F\n  waypoints xy: [(10.44,0.02), (20.90,0.05), (31.36,0.10), (41.84,0.16), (52.33,0.25), (62.85,0.35), (73.38,0.46), (83.93,0.59), (94.47,0.75), (105.00,0.93)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.060208727703582,"cv_gap":17.844}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/b90db12414aa45811bad50cc67791a51-103/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b90db12414aa45811bad50cc67791a51-103/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b90db12414aa45811bad50cc67791a51-103/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.452 m/s at x-direction and -0.009 m/s at y-direction. The ego vehicle's current acceleration is -0.337 m/s^2 at x-direction and 0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b90db12414aa45811bad50cc67791a51-103"}},"extra_info":{"index":206,"token":"waymo_e2e::b90db12414aa45811bad50cc67791a51-103","id":"waymo_e2e::b90db12414aa45811bad50cc67791a51-103","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.26,0.00), (4.53,0.01), (6.80,0.02), (9.06,0.04), (11.30,0.06), (13.51,0.08), (15.69,0.10), (17.83,0.12), (19.93,0.13), (22.00,0.16)]\nOption B\n  waypoints xy: [(10.94,0.01), (21.80,0.04), (32.57,0.06), (43.25,0.10), (53.86,0.16), (64.37,0.24), (74.77,0.33), (85.04,0.44), (95.16,0.56), (105.17,0.68)]\nOption C\n  waypoints xy: [(4.16,-0.00), (8.25,0.01), (12.21,0.02), (16.02,0.05), (19.61,0.08), (22.93,0.12), (25.94,0.15), (28.61,0.19), (30.91,0.22), (32.82,0.24)]\nOption D\n  waypoints xy: [(1.90,0.01), (3.36,0.03), (4.36,0.05), (4.93,0.06), (5.15,0.06), (5.17,0.06), (5.18,0.06), (5.18,0.06), (5.21,0.06), (5.34,0.07)]\nOption E\n  waypoints xy: [(8.47,-0.02), (17.00,-0.07), (25.62,-0.19), (34.30,-0.34), (43.04,-0.54), (51.82,-0.77), (60.62,-1.02), (69.44,-1.30), (78.28,-1.62), (87.15,-1.93)]\nOption F\n  waypoints xy: [(4.27,0.02), (8.68,0.07), (13.18,0.14), (17.77,0.25), (22.40,0.37), (27.06,0.51), (31.71,0.66), (36.36,0.81), (40.99,0.97), (45.58,1.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.451678973935586,"cv_gap":16.983}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/b36e6ce9701bcee2ad88384f66ef8a8b-036/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b36e6ce9701bcee2ad88384f66ef8a8b-036/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b36e6ce9701bcee2ad88384f66ef8a8b-036/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.557 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.453 m/s^2 at x-direction and -0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b36e6ce9701bcee2ad88384f66ef8a8b-036"}},"extra_info":{"index":207,"token":"waymo_e2e::b36e6ce9701bcee2ad88384f66ef8a8b-036","id":"waymo_e2e::b36e6ce9701bcee2ad88384f66ef8a8b-036","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.24,-0.00), (16.45,-0.00), (24.65,-0.00), (32.81,-0.01), (40.95,-0.01), (49.07,-0.09), (57.14,-0.18), (65.17,-0.27), (73.20,-0.35), (81.22,-0.43)]\nOption B\n  waypoints xy: [(2.80,0.00), (5.45,0.01), (8.20,0.01), (10.97,0.02), (13.74,0.03), (16.53,0.05), (19.34,0.06), (22.15,0.08), (24.98,0.10), (27.82,0.13)]\nOption C\n  waypoints xy: [(2.51,-0.00), (4.72,0.00), (6.52,0.01), (7.89,0.02), (8.80,0.03), (9.28,0.03), (9.44,0.04), (9.47,0.04), (9.49,0.04), (9.58,0.04)]\nOption D\n  waypoints xy: [(14.17,0.00), (28.39,0.03), (42.64,0.08), (56.90,0.15), (71.16,0.23), (85.41,0.33), (99.62,0.44), (113.82,0.56), (127.98,0.69), (142.12,0.81)]\nOption E\n  waypoints xy: [(5.80,-0.01), (11.59,-0.03), (17.37,-0.04), (23.12,-0.06), (28.84,-0.08), (34.52,-0.10), (40.15,-0.11), (45.76,-0.13), (51.34,-0.15), (56.92,-0.18)]\nOption F\n  waypoints xy: [(5.01,0.00), (10.02,0.00), (15.01,-0.00), (19.98,-0.02), (24.95,-0.03), (29.91,-0.05), (34.87,-0.06), (39.80,-0.07), (44.71,-0.08), (49.59,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.55654348997859,"cv_gap":18.029}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"LWLGK4yhxH","cam_id":"4_resize","sample_timestamps":["000000005093_000050000000","000000005093_000300000000","000000005093_000550000000","000000005093_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005093_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LWLGK4yhxH","cam_id":"2","sample_timestamps":["000000005092_000300000000","000000005092_000800000000","000000005093_000300000000","000000005093_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005093_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LWLGK4yhxH","cam_id":"7","sample_timestamps":["000000005092_000300000000","000000005092_000800000000","000000005093_000300000000","000000005093_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005093_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn left with an acceleration**. The ego vehicle's current velocity is 6.200 m/s at x-direction and -0.600 m/s at y-direction. The ego vehicle's current acceleration is -0.900 m/s^2 at x-direction and 0.900 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"LWLGK4yhxH"}},"extra_info":{"index":208,"token":"LWLGK4yhxH","id":"LWLGK4yhxH","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.30,-0.00), (0.68,-0.01), (1.20,-0.02), (1.76,-0.05), (2.40,-0.09), (3.11,-0.14), (3.93,-0.23), (4.88,-0.36), (5.95,-0.62), (7.09,-1.04)]\nOption B\n  waypoints xy: [(3.49,0.24), (6.93,0.76), (10.30,1.56), (13.55,2.74), (16.57,4.35), (19.29,6.37), (21.54,8.85), (23.19,11.75), (24.19,14.95), (24.71,18.37)]\nOption C\n  waypoints xy: [(8.15,-0.04), (16.29,-0.15), (24.42,-0.31), (32.54,-0.53), (40.66,-0.81), (48.77,-1.13), (56.89,-1.50), (65.01,-1.90), (73.13,-2.36), (81.25,-2.86)]\nOption D\n  waypoints xy: [(3.03,-0.04), (6.09,-0.14), (9.17,-0.32), (12.27,-0.56), (15.36,-0.88), (18.43,-1.25), (21.48,-1.66), (24.50,-2.09), (27.47,-2.53), (30.37,-2.95)]\nOption E\n  waypoints xy: [(1.65,0.01), (3.67,-0.00), (6.07,-0.06), (8.83,-0.21), (11.92,-0.47), (15.29,-0.86), (18.90,-1.36), (22.70,-1.98), (26.61,-2.73), (30.60,-3.61)]\nOption F\n  waypoints xy: [(2.54,-0.17), (5.26,-0.49), (8.14,-0.93), (11.16,-1.45), (14.28,-2.02), (17.48,-2.62), (20.71,-3.21), (23.95,-3.81), (27.17,-4.40), (30.36,-4.98)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.228964600958975,"cv_gap":21.191}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"qCIKx9d5GI","cam_id":"4_resize","sample_timestamps":["000000000774_000300000000","000000000774_000800000000","000000000775_000300000000","000000000775_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000775_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"qCIKx9d5GI","cam_id":"2","sample_timestamps":["000000000774_000300000000","000000000774_000800000000","000000000775_000300000000","000000000775_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000775_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"qCIKx9d5GI","cam_id":"7","sample_timestamps":["000000000774_000300000000","000000000774_000800000000","000000000775_000300000000","000000000775_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000775_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.700 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"qCIKx9d5GI"}},"extra_info":{"index":209,"token":"qCIKx9d5GI","id":"qCIKx9d5GI","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(10.98,-0.00), (21.95,0.00), (32.86,0.02), (43.62,0.03), (54.14,0.04), (64.32,0.03), (74.14,0.02), (83.60,0.01), (92.77,-0.02), (101.69,-0.04)]\nOption B\n  waypoints xy: [(5.82,-0.01), (11.49,-0.02), (16.99,-0.03), (22.31,-0.04), (27.40,-0.05), (32.20,-0.07), (36.70,-0.08), (40.90,-0.09), (44.80,-0.10), (48.40,-0.12)]\nOption C\n  waypoints xy: [(1.48,-0.00), (2.73,-0.00), (3.73,-0.00), (4.45,-0.00), (4.90,-0.00), (5.10,-0.00), (5.15,-0.00), (5.16,-0.00), (5.16,-0.00), (5.20,-0.00)]\nOption D\n  waypoints xy: [(4.80,0.00), (9.44,0.01), (13.88,0.03), (18.12,0.04), (22.18,0.07), (26.06,0.09), (29.82,0.11), (33.51,0.14), (37.15,0.17), (40.73,0.20)]\nOption E\n  waypoints xy: [(1.24,-0.01), (2.52,-0.04), (3.84,-0.09), (5.20,-0.16), (6.58,-0.23), (7.99,-0.29), (9.42,-0.37), (10.85,-0.44), (12.28,-0.51), (13.69,-0.59)]\nOption F\n  waypoints xy: [(7.03,-0.01), (13.96,-0.02), (20.83,-0.03), (27.66,-0.04), (34.44,-0.05), (41.17,-0.06), (47.82,-0.07), (54.36,-0.08), (60.74,-0.09), (66.96,-0.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.701851217221259,"cv_gap":8.1}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"LHpT0vixn4","cam_id":"4_resize","sample_timestamps":["001744316553_000800000000","001744316554_000300000000","001744316554_000800000000","001744316555_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001744316555_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LHpT0vixn4","cam_id":"2","sample_timestamps":["001744316553_000800000000","001744316554_000300000000","001744316554_000800000000","001744316555_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001744316555_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LHpT0vixn4","cam_id":"7","sample_timestamps":["001744316553_000800000000","001744316554_000300000000","001744316554_000800000000","001744316555_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001744316555_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 7.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.500 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"LHpT0vixn4"}},"extra_info":{"index":210,"token":"LHpT0vixn4","id":"LHpT0vixn4","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.90,-0.00), (7.74,-0.01), (11.54,-0.01), (15.30,-0.03), (19.05,-0.04), (22.78,-0.06), (26.54,-0.09), (30.32,-0.12), (34.14,-0.14), (37.96,-0.17)]\nOption B\n  waypoints xy: [(0.62,-0.07), (1.54,-0.27), (2.72,-0.72), (4.05,-1.60), (5.32,-3.02), (6.36,-5.02), (7.16,-7.58), (7.79,-10.66), (8.35,-14.23), (8.89,-18.24)]\nOption C\n  waypoints xy: [(2.93,-0.00), (5.70,0.00), (8.29,0.01), (10.68,0.01), (12.86,0.02), (14.82,0.02), (16.54,0.03), (18.02,0.04), (19.26,0.04), (20.27,0.06)]\nOption D\n  waypoints xy: [(5.41,-0.01), (10.87,-0.03), (16.37,-0.05), (21.87,-0.06), (27.37,-0.07), (32.85,-0.07), (38.30,-0.06), (43.78,-0.06), (49.28,-0.06), (54.78,-0.08)]\nOption E\n  waypoints xy: [(1.37,-0.27), (2.76,-0.81), (4.15,-1.65), (5.51,-2.79), (6.83,-4.26), (8.11,-6.02), (9.37,-8.06), (10.62,-10.34), (11.86,-12.83), (13.11,-15.51)]\nOption F\n  waypoints xy: [(6.50,0.05), (13.21,0.16), (20.15,0.29), (27.27,0.44), (34.74,0.65), (42.58,0.95), (50.58,1.32), (58.63,1.74), (66.64,2.14), (74.58,2.55)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.6,"cv_gap":17.976}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/33c39f3df0761a8a276b89a785fc30b5-207/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/33c39f3df0761a8a276b89a785fc30b5-207/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/33c39f3df0761a8a276b89a785fc30b5-207/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 4.748 m/s at x-direction and 0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.443 m/s^2 at x-direction and -0.006 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::33c39f3df0761a8a276b89a785fc30b5-207"}},"extra_info":{"index":211,"token":"waymo_e2e::33c39f3df0761a8a276b89a785fc30b5-207","id":"waymo_e2e::33c39f3df0761a8a276b89a785fc30b5-207","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.91,-0.02), (11.70,-0.05), (17.36,-0.11), (22.88,-0.17), (28.25,-0.25), (33.35,-0.33), (38.02,-0.39), (42.26,-0.45), (46.06,-0.48), (49.44,-0.51)]\nOption B\n  waypoints xy: [(4.92,0.04), (9.60,0.10), (13.98,0.19), (18.18,0.36), (22.22,0.64), (26.13,1.00), (29.89,1.41), (33.48,1.87), (36.94,2.37), (40.33,2.91)]\nOption C\n  waypoints xy: [(7.12,0.03), (14.25,0.09), (21.41,0.17), (28.59,0.29), (35.80,0.43), (43.04,0.59), (50.31,0.77), (57.61,0.96), (64.95,1.15), (72.30,1.34)]\nOption D\n  waypoints xy: [(8.48,-0.02), (16.97,-0.06), (25.45,-0.10), (33.90,-0.14), (42.31,-0.18), (50.67,-0.19), (58.98,-0.19), (67.23,-0.15), (75.42,-0.10), (83.56,-0.05)]\nOption E\n  waypoints xy: [(2.02,0.01), (3.79,0.02), (5.33,0.04), (6.63,0.06), (7.69,0.08), (8.50,0.09), (9.06,0.10), (9.38,0.10), (9.55,0.10), (9.66,0.11)]\nOption F\n  waypoints xy: [(2.40,-0.00), (4.81,-0.01), (7.21,-0.01), (9.60,-0.01), (11.97,-0.02), (14.32,-0.03), (16.65,-0.04), (18.97,-0.05), (21.28,-0.07), (23.58,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.748137808621874,"cv_gap":14.311}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/be0181ed607c59a29dac738f9b61a02e-210/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/be0181ed607c59a29dac738f9b61a02e-210/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/be0181ed607c59a29dac738f9b61a02e-210/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.828 m/s at x-direction and 0.007 m/s at y-direction. The ego vehicle's current acceleration is 0.061 m/s^2 at x-direction and -0.104 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::be0181ed607c59a29dac738f9b61a02e-210"}},"extra_info":{"index":212,"token":"waymo_e2e::be0181ed607c59a29dac738f9b61a02e-210","id":"waymo_e2e::be0181ed607c59a29dac738f9b61a02e-210","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.48,-0.01), (8.91,0.01), (13.27,0.07), (17.57,0.18), (21.83,0.34), (26.09,0.48), (30.36,0.59), (34.65,0.67), (38.95,0.72), (43.22,0.75)]\nOption B\n  waypoints xy: [(4.99,-0.00), (10.01,-0.01), (15.06,-0.02), (20.11,-0.09), (25.21,-0.22), (30.36,-0.37), (35.52,-0.57), (40.66,-0.77), (45.75,-0.95), (50.76,-1.08)]\nOption C\n  waypoints xy: [(2.59,0.00), (4.78,0.01), (6.48,0.02), (7.68,0.03), (8.37,0.03), (8.63,0.03), (8.66,0.03), (8.66,0.03), (8.68,0.03), (8.80,0.03)]\nOption D\n  waypoints xy: [(5.52,-0.02), (11.04,-0.04), (16.58,-0.07), (22.16,-0.12), (27.76,-0.17), (33.41,-0.24), (39.09,-0.32), (44.80,-0.41), (50.54,-0.51), (56.32,-0.63)]\nOption E\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption F\n  waypoints xy: [(4.12,0.01), (8.37,0.01), (12.76,-0.02), (17.29,-0.10), (21.93,-0.25), (26.67,-0.44), (31.49,-0.67), (36.39,-0.89), (41.33,-1.13), (46.31,-1.36)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.827871568816648,"cv_gap":15.154}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/274b8d3f06830d13f84d2f2b4e276f42-101/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/274b8d3f06830d13f84d2f2b4e276f42-101/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/274b8d3f06830d13f84d2f2b4e276f42-101/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.522 m/s at x-direction and -0.017 m/s at y-direction. The ego vehicle's current acceleration is -0.172 m/s^2 at x-direction and -0.026 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::274b8d3f06830d13f84d2f2b4e276f42-101"}},"extra_info":{"index":213,"token":"waymo_e2e::274b8d3f06830d13f84d2f2b4e276f42-101","id":"waymo_e2e::274b8d3f06830d13f84d2f2b4e276f42-101","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.92,-0.00), (15.80,-0.02), (23.65,-0.06), (31.46,-0.12), (39.24,-0.18), (47.00,-0.23), (54.75,-0.26), (62.49,-0.28), (70.22,-0.29), (77.97,-0.29)]\nOption B\n  waypoints xy: [(3.71,-0.01), (7.06,-0.03), (9.99,-0.04), (12.44,-0.04), (14.37,-0.04), (15.75,-0.04), (16.60,-0.04), (17.01,-0.04), (17.12,-0.04), (17.14,-0.04)]\nOption C\n  waypoints xy: [(1.63,-0.42), (3.21,-1.18), (4.62,-2.27), (5.85,-3.59), (6.94,-5.06), (7.92,-6.58), (8.84,-8.08), (9.75,-9.56), (10.67,-11.10), (11.63,-12.69)]\nOption D\n  waypoints xy: [(6.68,0.01), (13.30,0.04), (19.84,0.10), (26.28,0.18), (32.63,0.30), (38.84,0.43), (44.91,0.60), (50.82,0.78), (56.56,0.98), (62.13,1.19)]\nOption E\n  waypoints xy: [(3.67,0.00), (7.39,0.01), (11.14,0.01), (14.91,0.02), (18.69,0.02), (22.46,0.02), (26.23,0.01), (29.99,0.00), (33.71,-0.01), (37.39,-0.02)]\nOption F\n  waypoints xy: [(0.21,0.01), (0.56,0.03), (1.22,0.08), (2.33,0.24), (3.90,0.65), (5.84,1.52), (7.91,3.01), (9.89,5.18), (11.57,8.00), (12.89,11.34)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.522106478659123,"cv_gap":20.948}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"5fGHjmXGnG","cam_id":"4_resize","sample_timestamps":["000000001022_000600000000","000000001023_000100000000","000000001023_000600000000","000000001024_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001024_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5fGHjmXGnG","cam_id":"2","sample_timestamps":["000000001022_000600000000","000000001023_000100000000","000000001023_000600000000","000000001024_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001024_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5fGHjmXGnG","cam_id":"7","sample_timestamps":["000000001022_000600000000","000000001023_000100000000","000000001023_000600000000","000000001024_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001024_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.200 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"5fGHjmXGnG"}},"extra_info":{"index":214,"token":"5fGHjmXGnG","id":"5fGHjmXGnG","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.12,-0.01), (6.25,-0.03), (9.36,-0.05), (12.45,-0.07), (15.55,-0.09), (18.66,-0.11), (21.77,-0.13), (24.83,-0.17), (27.82,-0.21), (30.75,-0.26)]\nOption B\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption C\n  waypoints xy: [(5.09,0.00), (10.33,0.00), (15.71,-0.01), (21.16,-0.03), (26.71,-0.05), (32.35,-0.08), (38.05,-0.12), (43.77,-0.16), (49.51,-0.21), (55.21,-0.25)]\nOption D\n  waypoints xy: [(4.19,0.36), (8.46,1.15), (12.81,2.29), (17.21,3.71), (21.64,5.32), (26.07,7.06), (30.48,8.89), (34.85,10.80), (39.12,12.74), (43.28,14.68)]\nOption E\n  waypoints xy: [(2.39,0.05), (4.63,0.14), (6.65,0.27), (8.38,0.41), (9.75,0.53), (10.75,0.63), (11.40,0.70), (11.80,0.75), (12.05,0.79), (12.25,0.83)]\nOption F\n  waypoints xy: [(4.53,-0.06), (9.37,-0.17), (14.47,-0.34), (19.78,-0.55), (25.27,-0.80), (30.91,-1.06), (36.66,-1.34), (42.50,-1.62), (48.40,-1.90), (54.37,-2.19)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.2008063991709985,"cv_gap":19.576}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/1a7fc894c7a149d01cc35f977c8c2f15-032/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1a7fc894c7a149d01cc35f977c8c2f15-032/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1a7fc894c7a149d01cc35f977c8c2f15-032/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.405 m/s at x-direction and 0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.298 m/s^2 at x-direction and 0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::1a7fc894c7a149d01cc35f977c8c2f15-032"}},"extra_info":{"index":215,"token":"waymo_e2e::1a7fc894c7a149d01cc35f977c8c2f15-032","id":"waymo_e2e::1a7fc894c7a149d01cc35f977c8c2f15-032","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.09,-0.04), (4.24,-0.09), (6.46,-0.13), (8.72,-0.15), (11.02,-0.15), (13.22,-0.13), (15.34,-0.11), (17.46,-0.07), (19.60,-0.03), (21.76,-0.00)]\nOption B\n  waypoints xy: [(2.10,-0.01), (3.81,-0.01), (5.24,-0.02), (6.45,-0.03), (7.42,-0.04), (8.12,-0.05), (8.59,-0.05), (8.90,-0.06), (9.10,-0.06), (9.26,-0.06)]\nOption C\n  waypoints xy: [(4.27,0.12), (8.79,0.37), (13.56,0.76), (18.58,1.25), (23.81,1.83), (29.22,2.47), (34.77,3.13), (40.43,3.81), (46.19,4.50), (52.00,5.24)]\nOption D\n  waypoints xy: [(6.80,0.08), (13.93,0.32), (21.26,0.94), (28.81,1.76), (36.57,2.88), (44.49,4.33), (52.58,5.81), (60.80,7.50), (69.20,9.24), (77.80,11.11)]\nOption E\n  waypoints xy: [(8.79,-0.02), (17.35,-0.05), (25.66,-0.06), (33.75,-0.01), (41.66,0.13), (49.41,0.34), (56.96,0.55), (64.11,0.75), (70.86,0.97), (77.20,1.23)]\nOption F\n  waypoints xy: [(4.89,0.00), (9.77,0.00), (14.63,0.00), (19.46,0.01), (24.26,0.01), (29.02,0.01), (33.75,0.00), (38.44,-0.01), (43.07,-0.03), (47.63,-0.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.404709948215169,"cv_gap":12.997}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/d77883ffa3c476ffe71f1694ae982ebe-027/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d77883ffa3c476ffe71f1694ae982ebe-027/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d77883ffa3c476ffe71f1694ae982ebe-027/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.600 m/s at x-direction and -0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.473 m/s^2 at x-direction and 0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::d77883ffa3c476ffe71f1694ae982ebe-027"}},"extra_info":{"index":216,"token":"waymo_e2e::d77883ffa3c476ffe71f1694ae982ebe-027","id":"waymo_e2e::d77883ffa3c476ffe71f1694ae982ebe-027","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.65,0.00), (2.75,0.00), (3.30,0.00), (3.45,0.00), (3.45,0.00), (3.45,0.00), (3.45,0.01), (3.44,0.01), (3.44,0.01), (3.46,0.01)]\nOption B\n  waypoints xy: [(4.84,-0.02), (9.69,-0.04), (14.54,-0.06), (19.39,-0.08), (24.22,-0.09), (29.06,-0.08), (33.89,-0.08), (38.72,-0.07), (43.56,-0.05), (48.38,-0.03)]\nOption C\n  waypoints xy: [(4.70,-0.01), (9.38,-0.01), (14.02,-0.01), (18.63,-0.02), (23.21,-0.03), (27.75,-0.05), (32.26,-0.07), (36.71,-0.08), (41.08,-0.07), (45.29,-0.02)]\nOption D\n  waypoints xy: [(4.96,-0.01), (9.63,-0.03), (13.98,-0.03), (17.93,-0.04), (21.48,-0.04), (24.63,-0.04), (27.38,-0.05), (29.76,-0.05), (31.79,-0.05), (33.54,-0.06)]\nOption E\n  waypoints xy: [(1.82,-0.00), (3.65,-0.01), (5.47,-0.02), (7.28,-0.03), (9.08,-0.05), (10.87,-0.07), (12.66,-0.10), (14.44,-0.13), (16.20,-0.16), (17.94,-0.20)]\nOption F\n  waypoints xy: [(3.19,0.03), (6.59,0.08), (10.11,0.15), (13.71,0.21), (17.40,0.28), (21.17,0.36), (25.01,0.42), (28.92,0.47), (32.90,0.50), (36.93,0.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.5996381839093377,"cv_gap":14.47}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"TMvlarraNb","cam_id":"4_resize","sample_timestamps":["000000001037_000550000000","000000001037_000800000000","000000001038_000050000000","000000001038_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001038_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TMvlarraNb","cam_id":"2","sample_timestamps":["000000001036_000800000000","000000001037_000300000000","000000001037_000800000000","000000001038_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001038_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TMvlarraNb","cam_id":"7","sample_timestamps":["000000001036_000800000000","000000001037_000300000000","000000001037_000800000000","000000001038_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001038_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 9.300 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and -0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"TMvlarraNb"}},"extra_info":{"index":217,"token":"TMvlarraNb","id":"TMvlarraNb","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.58,0.00), (9.21,0.03), (13.87,0.06), (18.53,0.09), (23.20,0.13), (27.87,0.15), (32.55,0.17), (37.25,0.19), (41.96,0.20), (46.67,0.21)]\nOption B\n  waypoints xy: [(3.81,0.03), (7.42,0.10), (10.79,0.19), (13.84,0.30), (16.54,0.43), (18.85,0.55), (20.75,0.69), (22.25,0.81), (23.43,0.94), (24.34,1.06)]\nOption C\n  waypoints xy: [(1.97,-0.20), (4.04,-0.94), (6.13,-2.11), (8.16,-3.55), (10.13,-5.11), (12.09,-6.73), (14.06,-8.44), (16.02,-10.22), (18.02,-11.99), (20.02,-13.77)]\nOption D\n  waypoints xy: [(5.59,-0.01), (11.25,-0.02), (16.95,-0.04), (22.71,-0.06), (28.54,-0.07), (34.43,-0.08), (40.39,-0.08), (46.42,-0.06), (52.52,-0.04), (58.67,-0.02)]\nOption E\n  waypoints xy: [(1.88,0.32), (3.81,1.00), (5.72,2.08), (7.53,3.56), (9.20,5.43), (10.67,7.66), (11.95,10.20), (13.05,13.01), (14.02,16.04), (14.92,19.26)]\nOption F\n  waypoints xy: [(6.25,0.00), (12.72,0.00), (19.39,0.00), (26.21,-0.08), (33.15,-0.08), (40.20,-0.15), (47.28,-0.15), (54.36,-0.23), (61.45,-0.14), (68.55,0.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.3,"cv_gap":21.097}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Ah2HNGOYRZ","cam_id":"4_resize","sample_timestamps":["000000009812_000700000000","000000009813_000200000000","000000009813_000700000000","000000009814_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009814_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Ah2HNGOYRZ","cam_id":"2","sample_timestamps":["000000009812_000700000000","000000009813_000200000000","000000009813_000700000000","000000009814_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009814_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Ah2HNGOYRZ","cam_id":"7","sample_timestamps":["000000009812_000700000000","000000009813_000200000000","000000009813_000700000000","000000009814_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009814_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with an acceleration**. The ego vehicle's current velocity is 3.900 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and 0.600 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"Ah2HNGOYRZ"}},"extra_info":{"index":218,"token":"Ah2HNGOYRZ","id":"Ah2HNGOYRZ","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.20,0.01), (1.95,0.05), (2.18,0.06), (2.20,0.06), (2.21,0.06), (2.22,0.06), (2.23,0.07), (2.24,0.07), (2.25,0.07), (2.26,0.07)]\nOption B\n  waypoints xy: [(3.47,-0.01), (7.04,-0.03), (10.68,-0.07), (14.37,-0.16), (18.08,-0.34), (21.77,-0.60), (25.44,-0.97), (28.99,-1.45), (32.38,-2.07), (35.62,-2.85)]\nOption C\n  waypoints xy: [(4.89,-0.11), (9.80,-0.37), (14.72,-0.80), (19.58,-1.39), (24.26,-2.10), (28.59,-2.86), (32.53,-3.65), (36.11,-4.45), (39.31,-5.24), (42.05,-6.01)]\nOption D\n  waypoints xy: [(4.34,0.00), (8.61,0.01), (12.80,0.03), (16.89,0.05), (20.91,0.07), (24.86,0.09), (28.76,0.12), (32.64,0.15), (36.48,0.18), (40.28,0.20)]\nOption E\n  waypoints xy: [(4.03,0.10), (7.98,0.33), (11.81,0.69), (15.49,1.12), (19.03,1.59), (22.42,2.06), (25.65,2.53), (28.64,2.95), (31.31,3.32), (33.66,3.63)]\nOption F\n  waypoints xy: [(1.86,-0.03), (3.75,-0.11), (5.68,-0.23), (7.64,-0.37), (9.62,-0.53), (11.59,-0.70), (13.55,-0.88), (15.50,-1.05), (17.41,-1.21), (19.27,-1.36)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.9115214431215892,"cv_gap":17.193}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/22f8068e5d8350f9852ac1e637e41c09-067/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/22f8068e5d8350f9852ac1e637e41c09-067/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/22f8068e5d8350f9852ac1e637e41c09-067/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 6.601 m/s at x-direction and -0.046 m/s at y-direction. The ego vehicle's current acceleration is 0.007 m/s^2 at x-direction and 0.386 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::22f8068e5d8350f9852ac1e637e41c09-067"}},"extra_info":{"index":219,"token":"waymo_e2e::22f8068e5d8350f9852ac1e637e41c09-067","id":"waymo_e2e::22f8068e5d8350f9852ac1e637e41c09-067","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.11,-0.18), (2.36,-0.55), (3.74,-1.19), (5.22,-2.17), (6.76,-3.53), (8.36,-5.25), (10.02,-7.21), (11.80,-9.38), (13.67,-11.70), (15.64,-14.20)]\nOption B\n  waypoints xy: [(5.84,0.01), (11.73,0.02), (17.66,0.06), (23.63,0.10), (29.64,0.15), (35.69,0.19), (41.75,0.24), (47.81,0.27), (53.83,0.30), (59.80,0.32)]\nOption C\n  waypoints xy: [(5.28,0.03), (10.62,0.12), (16.01,0.26), (21.45,0.48), (26.92,0.74), (32.43,1.06), (37.95,1.44), (43.47,1.86), (48.98,2.33), (54.44,2.83)]\nOption D\n  waypoints xy: [(3.20,-0.01), (6.48,-0.03), (9.81,-0.05), (13.16,-0.09), (16.52,-0.13), (19.86,-0.17), (23.17,-0.22), (26.43,-0.26), (29.65,-0.31), (32.84,-0.35)]\nOption E\n  waypoints xy: [(2.54,0.13), (5.04,0.51), (7.48,0.95), (9.81,1.45), (12.02,1.92), (14.07,2.39), (15.99,2.83), (17.76,3.24), (19.35,3.61), (20.76,3.94)]\nOption F\n  waypoints xy: [(0.85,-0.04), (2.05,-0.18), (3.57,-0.51), (5.33,-1.19), (7.17,-2.36), (8.91,-4.13), (10.39,-6.49), (11.50,-9.42), (12.29,-12.85), (12.92,-16.71)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.601640959570826,"cv_gap":16.476}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"NCPI6de7wl","cam_id":"4_resize","sample_timestamps":["000000000482_000600000000","000000000483_000100000000","000000000483_000600000000","000000000484_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000484_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NCPI6de7wl","cam_id":"2","sample_timestamps":["000000000482_000600000000","000000000483_000100000000","000000000483_000600000000","000000000484_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000484_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NCPI6de7wl","cam_id":"7","sample_timestamps":["000000000482_000600000000","000000000483_000100000000","000000000483_000600000000","000000000484_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000484_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.000 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"NCPI6de7wl"}},"extra_info":{"index":220,"token":"NCPI6de7wl","id":"NCPI6de7wl","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.98,-0.02), (1.94,-0.04), (2.87,-0.07), (3.81,-0.10), (4.74,-0.14), (5.70,-0.18), (6.70,-0.22), (7.77,-0.28), (8.90,-0.35), (10.11,-0.42)]\nOption B\n  waypoints xy: [(5.88,0.01), (11.45,-0.01), (16.68,-0.06), (21.52,-0.15), (25.96,-0.30), (30.00,-0.47), (33.71,-0.64), (37.16,-0.82), (40.36,-1.00), (43.32,-1.18)]\nOption C\n  waypoints xy: [(3.43,0.04), (6.86,0.16), (10.27,0.34), (13.68,0.58), (17.09,0.87), (20.49,1.19), (23.88,1.51), (27.24,1.81), (30.56,2.09), (33.84,2.35)]\nOption D\n  waypoints xy: [(4.62,0.24), (9.59,0.62), (14.91,1.01), (20.53,1.40), (26.36,1.78), (32.36,2.12), (38.48,2.38), (44.69,2.51), (50.99,2.51), (57.37,2.44)]\nOption E\n  waypoints xy: [(2.98,-0.01), (6.12,-0.03), (9.42,-0.05), (12.87,-0.09), (16.47,-0.15), (20.17,-0.22), (23.94,-0.31), (27.72,-0.40), (31.45,-0.49), (35.14,-0.59)]\nOption F\n  waypoints xy: [(0.72,-0.00), (1.29,-0.00), (1.74,-0.00), (2.09,0.00), (2.36,0.00), (2.60,0.00), (2.81,0.00), (3.01,0.00), (3.21,0.00), (3.43,0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.0024984394500787,"cv_gap":6.471}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-100/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-100/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-100/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.862 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.886 m/s^2 at x-direction and -0.030 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-100"}},"extra_info":{"index":221,"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-100","id":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-100","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.30,-0.00), (4.09,-0.00), (5.32,-0.00), (5.99,-0.00), (6.22,-0.00), (6.23,-0.00), (6.23,-0.00), (6.23,0.00), (6.25,0.00), (6.33,0.00)]\nOption B\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption C\n  waypoints xy: [(4.07,-0.00), (8.17,-0.00), (12.29,-0.01), (16.42,-0.02), (20.55,-0.03), (24.66,-0.04), (28.74,-0.07), (32.77,-0.11), (36.74,-0.16), (40.65,-0.21)]\nOption D\n  waypoints xy: [(12.68,-0.00), (25.27,-0.00), (37.76,0.00), (50.14,0.01), (62.43,0.03), (74.60,0.05), (86.66,0.06), (98.59,0.07), (110.43,0.07), (122.23,0.08)]\nOption E\n  waypoints xy: [(3.41,-0.01), (6.82,-0.01), (10.22,-0.00), (13.62,0.01), (17.06,0.03), (20.53,0.05), (24.04,0.05), (27.59,0.04), (31.16,0.03), (34.71,0.01)]\nOption F\n  waypoints xy: [(3.76,0.00), (7.60,0.02), (11.52,0.05), (15.49,0.09), (19.50,0.14), (23.52,0.21), (27.51,0.29), (31.43,0.37), (35.23,0.44), (38.93,0.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.86151724576547,"cv_gap":28.206}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"JVLPU8exrW","cam_id":"4_resize","sample_timestamps":["000000000437_000400000000","000000000437_000900000000","000000000438_000400000000","000000000438_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000438_000950000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JVLPU8exrW","cam_id":"2","sample_timestamps":["000000000437_000400000000","000000000437_000900000000","000000000438_000400000000","000000000438_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000438_000950000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JVLPU8exrW","cam_id":"7","sample_timestamps":["000000000437_000400000000","000000000437_000900000000","000000000438_000400000000","000000000438_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000438_000950000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.100 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"JVLPU8exrW"}},"extra_info":{"index":222,"token":"JVLPU8exrW","id":"JVLPU8exrW","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption B\n  waypoints xy: [(1.28,-0.07), (2.57,-0.26), (3.85,-0.56), (5.15,-0.95), (6.45,-1.44), (7.76,-2.00), (9.07,-2.64), (10.39,-3.34), (11.69,-4.11), (12.99,-4.92)]\nOption C\n  waypoints xy: [(1.64,0.02), (3.25,0.06), (4.83,0.11), (6.38,0.16), (7.93,0.20), (9.49,0.25), (11.05,0.29), (12.61,0.33), (14.14,0.35), (15.65,0.37)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(4.79,-0.00), (9.46,-0.02), (13.97,-0.05), (18.35,-0.08), (22.61,-0.11), (26.77,-0.14), (30.82,-0.19), (34.76,-0.24), (38.59,-0.30), (42.21,-0.37)]\nOption F\n  waypoints xy: [(7.10,-0.00), (14.21,-0.00), (21.32,-0.01), (28.43,-0.02), (35.53,-0.03), (42.60,-0.04), (49.64,-0.07), (56.63,-0.11), (63.60,-0.14), (70.54,-0.17)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.1016124838541645,"cv_gap":6.2}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"DREZ4sZyjR","cam_id":"4_resize","sample_timestamps":["000000006670_000900000000","000000006671_000400000000","000000006671_000900000000","000000006672_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006672_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"DREZ4sZyjR","cam_id":"2","sample_timestamps":["000000006670_000900000000","000000006671_000400000000","000000006671_000900000000","000000006672_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006672_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"DREZ4sZyjR","cam_id":"7","sample_timestamps":["000000006670_000900000000","000000006671_000400000000","000000006671_000900000000","000000006672_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006672_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"DREZ4sZyjR"}},"extra_info":{"index":223,"token":"DREZ4sZyjR","id":"DREZ4sZyjR","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption B\n  waypoints xy: [(2.81,0.01), (5.58,0.02), (8.33,0.03), (11.05,0.04), (13.76,0.05), (16.48,0.07), (19.23,0.09), (22.00,0.11), (24.79,0.14), (27.56,0.18)]\nOption C\n  waypoints xy: [(6.43,0.02), (12.84,0.09), (19.19,0.19), (25.46,0.33), (31.63,0.52), (37.67,0.72), (43.54,0.96), (49.23,1.22), (54.71,1.48), (59.98,1.75)]\nOption D\n  waypoints xy: [(2.23,0.00), (4.21,0.01), (5.94,0.01), (7.40,0.02), (8.61,0.02), (9.56,0.02), (10.28,0.03), (10.76,0.03), (11.07,0.03), (11.28,0.03)]\nOption E\n  waypoints xy: [(6.13,-0.00), (12.21,-0.01), (18.11,-0.02), (23.61,-0.00), (28.65,0.02), (33.24,0.05), (37.36,0.07), (41.02,0.08), (44.21,0.07), (46.95,0.06)]\nOption F\n  waypoints xy: [(4.49,-0.01), (9.05,-0.03), (13.65,-0.04), (18.26,-0.06), (22.89,-0.08), (27.52,-0.09), (32.14,-0.11), (36.74,-0.12), (41.27,-0.12), (45.74,-0.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.5,"cv_gap":15.626}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Mf4CO9qS8l","cam_id":"4_resize","sample_timestamps":["000000001310_000650000000","000000001310_000900000000","000000001311_000150000000","000000001311_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001311_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Mf4CO9qS8l","cam_id":"2","sample_timestamps":["000000001309_000900000000","000000001310_000400000000","000000001310_000900000000","000000001311_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001311_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Mf4CO9qS8l","cam_id":"7","sample_timestamps":["000000001309_000900000000","000000001310_000400000000","000000001310_000900000000","000000001311_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001311_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"Mf4CO9qS8l"}},"extra_info":{"index":224,"token":"Mf4CO9qS8l","id":"Mf4CO9qS8l","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.48,0.01), (4.98,0.03), (7.50,0.06), (10.00,0.10), (12.50,0.13), (14.97,0.17), (17.41,0.20), (19.82,0.23), (22.19,0.26), (24.52,0.28)]\nOption B\n  waypoints xy: [(5.34,-0.10), (10.74,-0.36), (16.20,-0.79), (21.67,-1.39), (27.14,-2.15), (32.59,-3.07), (38.01,-4.11), (43.40,-5.24), (48.71,-6.45), (53.90,-7.72)]\nOption C\n  waypoints xy: [(4.26,-0.03), (8.53,-0.12), (12.79,-0.31), (17.05,-0.62), (21.31,-1.04), (25.57,-1.56), (29.83,-2.13), (34.10,-2.73), (38.38,-3.36), (42.66,-3.99)]\nOption D\n  waypoints xy: [(2.22,0.00), (4.04,0.01), (5.51,0.01), (6.78,0.02), (7.79,0.02), (8.43,0.02), (8.74,0.02), (8.83,0.02), (8.83,0.03), (8.83,0.03)]\nOption E\n  waypoints xy: [(4.55,-0.01), (9.16,-0.02), (13.81,-0.04), (18.54,-0.08), (23.35,-0.13), (28.23,-0.22), (33.19,-0.33), (38.22,-0.45), (43.32,-0.56), (48.43,-0.68)]\nOption F\n  waypoints xy: [(11.37,-0.05), (22.70,-0.19), (34.01,-0.45), (45.35,-0.83), (56.72,-1.32), (68.11,-1.95), (79.48,-2.70), (90.79,-3.58), (102.03,-4.60), (113.19,-5.77)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.0,"cv_gap":16.127}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"z8hA5F5KBF","cam_id":"4_resize","sample_timestamps":["000000024270_000100000000","000000024270_000600000000","000000024271_000100000000","000000024271_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000024271_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"z8hA5F5KBF","cam_id":"2","sample_timestamps":["000000024270_000100000000","000000024270_000600000000","000000024271_000100000000","000000024271_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000024271_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"z8hA5F5KBF","cam_id":"7","sample_timestamps":["000000024270_000100000000","000000024270_000600000000","000000024271_000100000000","000000024271_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000024271_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.300 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"z8hA5F5KBF"}},"extra_info":{"index":225,"token":"z8hA5F5KBF","id":"z8hA5F5KBF","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.60,0.03), (7.23,0.10), (10.90,0.18), (14.60,0.25), (18.35,0.32), (22.10,0.37), (25.85,0.39), (29.57,0.40), (33.27,0.38), (36.95,0.36)]\nOption B\n  waypoints xy: [(3.68,-0.10), (7.57,-0.29), (11.66,-0.57), (15.92,-0.93), (20.33,-1.34), (24.86,-1.78), (29.51,-2.26), (34.23,-2.74), (39.02,-3.21), (43.84,-3.65)]\nOption C\n  waypoints xy: [(1.70,-0.00), (3.41,0.02), (5.13,0.01), (6.86,0.01), (8.60,0.01), (10.35,0.01), (12.07,-0.01), (13.73,-0.04), (15.33,-0.05), (16.85,-0.08)]\nOption D\n  waypoints xy: [(2.92,0.01), (6.19,0.02), (9.78,-0.03), (13.67,-0.12), (17.86,-0.20), (22.33,-0.24), (26.92,-0.19), (31.50,-0.08), (35.86,0.04), (39.81,0.14)]\nOption E\n  waypoints xy: [(1.31,0.00), (2.39,-0.00), (3.21,0.00), (3.75,0.00), (4.04,0.01), (4.15,0.01), (4.19,0.01), (4.21,0.01), (4.24,0.01), (4.31,0.00)]\nOption F\n  waypoints xy: [(5.53,-0.06), (11.43,-0.18), (17.63,-0.33), (24.03,-0.54), (30.56,-0.79), (37.17,-1.09), (43.82,-1.41), (50.47,-1.72), (57.11,-2.03), (63.74,-2.33)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4,"cv_gap":12.75}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ITdJRww0t5","cam_id":"4_resize","sample_timestamps":["000000026194_000700000000","000000026195_000200000000","000000026195_000700000000","000000026196_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000026196_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ITdJRww0t5","cam_id":"2","sample_timestamps":["000000026194_000700000000","000000026195_000200000000","000000026195_000700000000","000000026196_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000026196_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ITdJRww0t5","cam_id":"7","sample_timestamps":["000000026194_000700000000","000000026195_000200000000","000000026195_000700000000","000000026196_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000026196_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.200 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.200 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"ITdJRww0t5"}},"extra_info":{"index":226,"token":"ITdJRww0t5","id":"ITdJRww0t5","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.56,-0.04), (11.19,-0.11), (16.89,-0.20), (22.65,-0.30), (28.46,-0.40), (34.36,-0.50), (40.42,-0.61), (46.60,-0.70), (52.84,-0.75), (59.13,-0.77)]\nOption B\n  waypoints xy: [(5.22,0.00), (10.58,0.02), (16.04,0.04), (21.62,0.07), (27.29,0.10), (33.04,0.13), (38.87,0.17), (44.76,0.20), (50.69,0.22), (56.67,0.24)]\nOption C\n  waypoints xy: [(2.63,0.01), (5.22,0.05), (7.81,0.09), (10.39,0.14), (12.99,0.19), (15.59,0.24), (18.20,0.31), (20.82,0.38), (23.46,0.45), (26.13,0.51)]\nOption D\n  waypoints xy: [(5.01,0.00), (9.94,0.05), (14.73,0.05), (19.46,0.11), (24.21,0.11), (28.93,0.16), (33.56,0.16), (38.16,0.21), (42.82,0.31), (47.56,0.47)]\nOption E\n  waypoints xy: [(6.24,-0.00), (12.49,0.00), (18.72,0.01), (24.91,0.04), (30.99,0.07), (36.85,0.09), (42.41,0.12), (47.66,0.16), (52.59,0.20), (57.20,0.25)]\nOption F\n  waypoints xy: [(2.50,0.10), (4.59,0.21), (6.24,0.30), (7.48,0.36), (8.38,0.41), (9.01,0.44), (9.42,0.47), (9.69,0.48), (9.91,0.49), (10.10,0.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.200961449578338,"cv_gap":15.936}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"onZXH5Ps56","cam_id":"4_resize","sample_timestamps":["000000001621_000200000000","000000001621_000700000000","000000001622_000200000000","000000001622_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001622_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"onZXH5Ps56","cam_id":"2","sample_timestamps":["000000001621_000200000000","000000001621_000700000000","000000001622_000200000000","000000001622_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001622_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"onZXH5Ps56","cam_id":"7","sample_timestamps":["000000001621_000200000000","000000001621_000700000000","000000001622_000200000000","000000001622_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001622_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with a constant speed**. The ego vehicle's current velocity is 5.700 m/s at x-direction and 0.500 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"onZXH5Ps56"}},"extra_info":{"index":227,"token":"onZXH5Ps56","id":"onZXH5Ps56","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.92,-0.00), (9.74,-0.01), (14.44,-0.03), (18.99,-0.04), (23.41,-0.05), (27.75,-0.06), (32.02,-0.07), (36.28,-0.08), (40.51,-0.09), (44.74,-0.09)]\nOption B\n  waypoints xy: [(8.87,-0.06), (17.75,-0.24), (26.66,-0.52), (35.60,-0.93), (44.56,-1.46), (53.57,-2.10), (62.61,-2.86), (71.67,-3.72), (80.75,-4.66), (89.84,-5.67)]\nOption C\n  waypoints xy: [(2.68,0.07), (5.37,0.22), (8.10,0.42), (10.89,0.67), (13.76,0.95), (16.68,1.25), (19.61,1.57), (22.51,1.89), (25.34,2.20), (28.08,2.52)]\nOption D\n  waypoints xy: [(2.53,-0.01), (4.94,-0.01), (7.22,-0.01), (9.39,-0.01), (11.53,-0.01), (13.72,0.01), (16.03,0.03), (18.52,0.07), (21.17,0.11), (23.97,0.14)]\nOption E\n  waypoints xy: [(1.13,0.00), (2.53,0.01), (4.22,0.02), (6.22,0.06), (8.55,0.15), (11.19,0.33), (14.07,0.57), (17.15,0.85), (20.43,1.16), (23.91,1.47)]\nOption F\n  waypoints xy: [(2.18,-0.31), (4.30,-1.00), (6.25,-2.12), (7.91,-3.68), (9.24,-5.65), (10.25,-7.97), (11.03,-10.61), (11.68,-13.55), (12.27,-16.77), (12.85,-20.23)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.721887800367987,"cv_gap":28.158}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"qjTwpDzvwt","cam_id":"4_resize","sample_timestamps":["000000002665_000400000000","000000002665_000900000000","000000002666_000400000000","000000002666_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002666_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"qjTwpDzvwt","cam_id":"2","sample_timestamps":["000000002665_000400000000","000000002665_000900000000","000000002666_000400000000","000000002666_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002666_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"qjTwpDzvwt","cam_id":"7","sample_timestamps":["000000002665_000400000000","000000002665_000900000000","000000002666_000400000000","000000002666_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002666_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.600 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"qjTwpDzvwt"}},"extra_info":{"index":228,"token":"qjTwpDzvwt","id":"qjTwpDzvwt","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.66,-0.00), (11.31,-0.01), (16.96,-0.00), (22.62,0.01), (28.29,0.02), (34.00,0.05), (39.75,0.08), (45.55,0.13), (51.39,0.18), (57.28,0.25)]\nOption B\n  waypoints xy: [(4.89,0.00), (9.57,0.01), (13.96,0.02), (18.00,0.03), (21.68,0.03), (24.99,0.02), (28.00,-0.01), (30.73,-0.07), (33.22,-0.18), (35.49,-0.35)]\nOption C\n  waypoints xy: [(8.08,0.03), (16.16,0.10), (24.24,0.19), (32.31,0.31), (40.36,0.45), (48.40,0.61), (56.41,0.78), (64.40,0.95), (72.38,1.12), (80.35,1.30)]\nOption D\n  waypoints xy: [(0.83,-0.01), (1.69,-0.02), (2.56,-0.04), (3.39,-0.09), (4.14,-0.14), (4.84,-0.19), (5.57,-0.24), (6.39,-0.32), (7.26,-0.42), (8.17,-0.51)]\nOption E\n  waypoints xy: [(4.14,0.00), (8.20,0.02), (12.14,0.05), (15.96,0.09), (19.60,0.14), (23.03,0.21), (26.20,0.27), (29.07,0.34), (31.61,0.40), (33.81,0.45)]\nOption F\n  waypoints xy: [(0.58,0.03), (1.15,0.14), (1.70,0.32), (2.22,0.58), (2.72,0.92), (3.19,1.33), (3.63,1.80), (4.04,2.31), (4.44,2.88), (4.80,3.49)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.6031219541881399,"cv_gap":5.335}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"DoisnJEiRP","cam_id":"4_resize","sample_timestamps":["000000003455_000100000000","000000003455_000600000000","000000003456_000100000000","000000003456_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003456_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"DoisnJEiRP","cam_id":"2","sample_timestamps":["000000003455_000100000000","000000003455_000600000000","000000003456_000100000000","000000003456_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003456_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"DoisnJEiRP","cam_id":"7","sample_timestamps":["000000003455_000100000000","000000003455_000600000000","000000003456_000100000000","000000003456_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003456_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"DoisnJEiRP"}},"extra_info":{"index":229,"token":"DoisnJEiRP","id":"DoisnJEiRP","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.48,0.01), (4.98,0.03), (7.50,0.06), (10.00,0.10), (12.50,0.13), (14.97,0.17), (17.41,0.20), (19.82,0.23), (22.19,0.26), (24.52,0.28)]\nOption B\n  waypoints xy: [(6.82,0.00), (13.85,0.02), (21.08,0.04), (28.52,0.07), (36.19,0.14), (44.06,0.24), (52.07,0.37), (60.16,0.53), (68.29,0.73), (76.45,0.96)]\nOption C\n  waypoints xy: [(5.76,-0.01), (11.85,-0.02), (18.31,-0.04), (25.11,-0.08), (32.25,-0.17), (39.59,-0.33), (47.02,-0.55), (54.50,-0.78), (62.02,-1.00), (69.58,-1.21)]\nOption D\n  waypoints xy: [(2.54,0.01), (4.59,0.02), (6.07,0.04), (6.99,0.05), (7.43,0.06), (7.53,0.06), (7.53,0.06), (7.54,0.06), (7.59,0.06), (7.76,0.07)]\nOption E\n  waypoints xy: [(5.63,-0.00), (11.28,0.00), (16.93,0.00), (22.59,0.01), (28.24,0.01), (33.88,0.00), (39.49,-0.02), (45.08,-0.05), (50.65,-0.09), (56.19,-0.13)]\nOption F\n  waypoints xy: [(5.73,0.02), (11.22,0.06), (16.40,0.12), (21.28,0.21), (25.88,0.35), (30.24,0.54), (34.45,0.80), (38.58,1.18), (42.62,1.68), (46.50,2.28)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.0,"cv_gap":17.196}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Rz8JU9NC6z","cam_id":"4_resize","sample_timestamps":["000000023067_000000000000","000000023067_000250000000","000000023067_000500000000","000000023067_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000023067_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Rz8JU9NC6z","cam_id":"2","sample_timestamps":["000000023066_000300000000","000000023066_000800000000","000000023067_000300000000","000000023067_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000023067_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Rz8JU9NC6z","cam_id":"7","sample_timestamps":["000000023066_000300000000","000000023066_000800000000","000000023067_000300000000","000000023067_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000023067_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 10.500 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"Rz8JU9NC6z"}},"extra_info":{"index":230,"token":"Rz8JU9NC6z","id":"Rz8JU9NC6z","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.30,-0.00), (10.57,-0.01), (15.83,-0.02), (21.07,-0.03), (26.29,-0.04), (31.51,-0.08), (36.72,-0.12), (41.94,-0.18), (47.16,-0.24), (52.40,-0.30)]\nOption B\n  waypoints xy: [(1.80,0.50), (3.59,1.47), (5.27,2.93), (6.83,4.82), (8.35,7.00), (9.90,9.35), (11.48,11.81), (13.06,14.37), (14.66,16.99), (16.26,19.64)]\nOption C\n  waypoints xy: [(7.98,-0.01), (16.00,-0.05), (24.07,-0.09), (32.18,-0.13), (40.32,-0.18), (48.47,-0.21), (56.63,-0.23), (64.79,-0.26), (72.93,-0.26), (81.06,-0.26)]\nOption D\n  waypoints xy: [(2.71,-0.38), (5.15,-1.26), (7.25,-2.68), (8.91,-4.60), (10.09,-6.93), (10.86,-9.57), (11.34,-12.46), (11.68,-15.58), (11.94,-18.90), (12.19,-22.41)]\nOption E\n  waypoints xy: [(4.82,0.00), (9.25,0.01), (13.23,0.01), (16.68,0.02), (19.52,0.01), (21.76,-0.00), (23.38,-0.01), (24.45,-0.01), (25.11,-0.01), (25.51,-0.01)]\nOption F\n  waypoints xy: [(0.27,-0.01), (0.48,-0.03), (0.75,-0.07), (1.04,-0.14), (1.37,-0.23), (1.73,-0.36), (2.10,-0.52), (2.46,-0.71), (2.77,-0.88), (3.03,-1.06)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.50047617967871,"cv_gap":27.727}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/eeb774e8800c8f04b78c487aa181cf64-042/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/eeb774e8800c8f04b78c487aa181cf64-042/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/eeb774e8800c8f04b78c487aa181cf64-042/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.983 m/s at x-direction and 0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.148 m/s^2 at x-direction and -0.010 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::eeb774e8800c8f04b78c487aa181cf64-042"}},"extra_info":{"index":231,"token":"waymo_e2e::eeb774e8800c8f04b78c487aa181cf64-042","id":"waymo_e2e::eeb774e8800c8f04b78c487aa181cf64-042","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.70,0.13), (3.44,0.46), (5.15,1.08), (6.78,2.04), (8.22,3.36), (9.41,5.01), (10.29,6.93), (10.90,9.06), (11.31,11.38), (11.60,13.84)]\nOption B\n  waypoints xy: [(3.40,-0.01), (6.84,-0.02), (10.33,-0.04), (13.83,-0.06), (17.36,-0.07), (20.91,-0.07), (24.46,-0.06), (27.99,-0.05), (31.49,-0.04), (34.92,-0.03)]\nOption C\n  waypoints xy: [(1.75,0.16), (3.51,0.57), (5.21,1.32), (6.75,2.45), (8.03,3.96), (8.99,5.79), (9.60,7.88), (9.91,10.15), (9.99,12.55), (9.94,15.05)]\nOption D\n  waypoints xy: [(3.66,-0.02), (6.98,-0.04), (9.92,-0.07), (12.44,-0.09), (14.49,-0.11), (16.04,-0.12), (17.11,-0.13), (17.73,-0.13), (17.99,-0.13), (18.06,-0.14)]\nOption E\n  waypoints xy: [(6.61,0.07), (13.24,0.07), (19.89,0.14), (26.54,0.14), (33.20,0.22), (39.83,0.29), (46.43,0.29), (52.99,0.36), (59.53,0.44), (66.07,0.51)]\nOption F\n  waypoints xy: [(5.92,-0.01), (11.86,-0.04), (17.82,-0.09), (23.82,-0.15), (29.86,-0.23), (35.96,-0.31), (42.12,-0.41), (48.34,-0.52), (54.58,-0.66), (60.83,-0.81)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.982751513464148,"cv_gap":16.69}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/46efa4d045e4f13a1d023ce61fd303b1-084/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/46efa4d045e4f13a1d023ce61fd303b1-084/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/46efa4d045e4f13a1d023ce61fd303b1-084/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.790 m/s at x-direction and -0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.321 m/s^2 at x-direction and -0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::46efa4d045e4f13a1d023ce61fd303b1-084"}},"extra_info":{"index":232,"token":"waymo_e2e::46efa4d045e4f13a1d023ce61fd303b1-084","id":"waymo_e2e::46efa4d045e4f13a1d023ce61fd303b1-084","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.36,0.00), (6.73,0.01), (10.12,0.01), (13.53,0.02), (16.95,0.02), (20.38,0.01), (23.82,-0.01), (27.26,-0.03), (30.67,-0.06), (34.06,-0.09)]\nOption B\n  waypoints xy: [(1.19,-0.28), (2.36,-0.80), (3.47,-1.57), (4.50,-2.60), (5.43,-3.86), (6.29,-5.35), (7.09,-7.04), (7.86,-8.91), (8.59,-10.92), (9.27,-13.06)]\nOption C\n  waypoints xy: [(6.53,0.19), (13.08,0.67), (19.63,1.47), (26.16,2.58), (32.68,3.96), (39.17,5.60), (45.62,7.48), (52.02,9.55), (58.37,11.81), (64.64,14.21)]\nOption D\n  waypoints xy: [(5.75,0.02), (11.60,0.10), (17.56,0.24), (23.61,0.44), (29.73,0.72), (35.91,1.08), (42.13,1.53), (48.37,2.07), (54.61,2.71), (60.85,3.45)]\nOption E\n  waypoints xy: [(3.07,-0.01), (5.86,-0.04), (8.35,-0.08), (10.50,-0.11), (12.28,-0.12), (13.70,-0.14), (14.76,-0.14), (15.48,-0.15), (15.91,-0.14), (16.14,-0.14)]\nOption F\n  waypoints xy: [(0.50,-0.04), (1.24,-0.15), (2.25,-0.41), (3.47,-0.94), (4.76,-1.87), (5.96,-3.27), (6.93,-5.17), (7.65,-7.53), (8.19,-10.32), (8.65,-13.50)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.789864850665123,"cv_gap":17.986}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"9MbkkBuUET","cam_id":"4_resize","sample_timestamps":["000000003943_000900000000","000000003944_000400000000","000000003944_000900000000","000000003945_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003945_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"9MbkkBuUET","cam_id":"2","sample_timestamps":["000000003943_000900000000","000000003944_000400000000","000000003944_000900000000","000000003945_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003945_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"9MbkkBuUET","cam_id":"7","sample_timestamps":["000000003943_000900000000","000000003944_000400000000","000000003944_000900000000","000000003945_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003945_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with an acceleration**. The ego vehicle's current velocity is 7.800 m/s at x-direction and 0.600 m/s at y-direction. The ego vehicle's current acceleration is -1.300 m/s^2 at x-direction and -0.900 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"9MbkkBuUET"}},"extra_info":{"index":233,"token":"9MbkkBuUET","id":"9MbkkBuUET","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption B\n  waypoints xy: [(5.73,0.01), (11.50,0.02), (17.30,0.04), (23.12,0.06), (28.92,0.08), (34.71,0.09), (40.49,0.09), (46.25,0.10), (51.97,0.12), (57.64,0.14)]\nOption C\n  waypoints xy: [(4.02,0.06), (7.96,0.19), (11.85,0.39), (15.69,0.67), (19.48,1.01), (23.21,1.41), (26.91,1.87), (30.62,2.35), (34.34,2.83), (38.00,3.28)]\nOption D\n  waypoints xy: [(0.54,0.00), (1.37,0.03), (2.45,0.17), (3.72,0.54), (5.07,1.27), (6.35,2.48), (7.40,4.19), (8.07,6.34), (8.40,8.86), (8.58,11.67)]\nOption E\n  waypoints xy: [(8.18,-0.08), (16.40,-0.31), (24.65,-0.68), (32.90,-1.21), (41.15,-1.87), (49.37,-2.66), (57.56,-3.57), (65.70,-4.58), (73.82,-5.66), (81.90,-6.81)]\nOption F\n  waypoints xy: [(4.03,-0.03), (7.25,-0.08), (9.87,-0.13), (11.88,-0.17), (13.28,-0.19), (14.02,-0.21), (14.32,-0.21), (14.34,-0.21), (14.35,-0.20), (14.35,-0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.8230428862431785,"cv_gap":24.654}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/d96ca054b54c1f93335a6f53c9460b56-030/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d96ca054b54c1f93335a6f53c9460b56-030/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d96ca054b54c1f93335a6f53c9460b56-030/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.766 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.101 m/s^2 at x-direction and 0.035 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::d96ca054b54c1f93335a6f53c9460b56-030"}},"extra_info":{"index":234,"token":"waymo_e2e::d96ca054b54c1f93335a6f53c9460b56-030","id":"waymo_e2e::d96ca054b54c1f93335a6f53c9460b56-030","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.50,0.01), (9.07,0.05), (13.68,0.11), (18.33,0.18), (23.01,0.24), (27.73,0.30), (32.46,0.34), (37.22,0.39), (41.99,0.42), (46.76,0.44)]\nOption B\n  waypoints xy: [(7.92,-0.02), (15.96,-0.05), (24.11,-0.09), (32.37,-0.13), (40.70,-0.17), (49.10,-0.19), (57.49,-0.21), (65.78,-0.21), (74.02,-0.20), (82.23,-0.19)]\nOption C\n  waypoints xy: [(4.96,-0.01), (9.83,0.02), (14.61,0.14), (19.29,0.38), (23.90,0.74), (28.42,1.19), (32.73,1.64), (36.61,2.07), (39.87,2.43), (42.44,2.72)]\nOption D\n  waypoints xy: [(2.40,-0.00), (4.81,-0.01), (7.21,-0.01), (9.60,-0.01), (11.97,-0.02), (14.32,-0.03), (16.65,-0.04), (18.97,-0.05), (21.28,-0.07), (23.58,-0.09)]\nOption E\n  waypoints xy: [(8.66,-0.02), (17.31,-0.08), (25.96,-0.17), (34.59,-0.27), (43.19,-0.37), (51.77,-0.45), (60.32,-0.49), (68.84,-0.48), (77.34,-0.43), (85.82,-0.37)]\nOption F\n  waypoints xy: [(2.50,0.10), (4.59,0.21), (6.24,0.30), (7.48,0.36), (8.38,0.41), (9.01,0.44), (9.42,0.47), (9.69,0.48), (9.91,0.49), (10.10,0.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.76628706639949,"cv_gap":13.978}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/a3080155712515f80fd765c97370d428-095/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a3080155712515f80fd765c97370d428-095/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a3080155712515f80fd765c97370d428-095/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.644 m/s at x-direction and -0.021 m/s at y-direction. The ego vehicle's current acceleration is -0.341 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::a3080155712515f80fd765c97370d428-095"}},"extra_info":{"index":235,"token":"waymo_e2e::a3080155712515f80fd765c97370d428-095","id":"waymo_e2e::a3080155712515f80fd765c97370d428-095","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.24,-0.02), (0.66,-0.06), (1.40,-0.20), (2.49,-0.53), (3.84,-1.24), (5.26,-2.47), (6.52,-4.29), (7.53,-6.67), (8.30,-9.55), (8.95,-12.90)]\nOption B\n  waypoints xy: [(5.58,-0.02), (11.07,-0.07), (16.47,-0.18), (21.78,-0.36), (27.03,-0.63), (32.27,-0.98), (37.50,-1.39), (42.73,-1.84), (47.93,-2.30), (53.09,-2.78)]\nOption C\n  waypoints xy: [(6.81,-0.01), (13.54,-0.05), (20.16,-0.12), (26.64,-0.21), (32.96,-0.35), (39.11,-0.51), (45.11,-0.68), (50.95,-0.88), (56.66,-1.07), (62.27,-1.26)]\nOption D\n  waypoints xy: [(1.29,-0.22), (2.57,-0.71), (3.77,-1.50), (4.81,-2.57), (5.66,-3.91), (6.29,-5.48), (6.76,-7.27), (7.12,-9.26), (7.42,-11.46), (7.69,-13.86)]\nOption E\n  waypoints xy: [(3.26,0.00), (6.54,0.01), (9.83,0.01), (13.14,0.02), (16.49,0.02), (19.84,0.03), (23.20,0.03), (26.57,0.03), (29.94,0.03), (33.30,0.02)]\nOption F\n  waypoints xy: [(2.87,-0.01), (5.51,-0.02), (7.90,-0.04), (9.99,-0.07), (11.75,-0.09), (13.13,-0.11), (14.15,-0.13), (14.81,-0.14), (15.17,-0.14), (15.33,-0.15)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.644524811536058,"cv_gap":17.736}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ubmZJYmWGA","cam_id":"4_resize","sample_timestamps":["000000009737_000300000000","000000009737_000800000000","000000009738_000300000000","000000009738_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009738_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ubmZJYmWGA","cam_id":"2","sample_timestamps":["000000009737_000300000000","000000009737_000800000000","000000009738_000300000000","000000009738_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009738_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ubmZJYmWGA","cam_id":"7","sample_timestamps":["000000009737_000300000000","000000009737_000800000000","000000009738_000300000000","000000009738_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009738_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn right with an acceleration**. The ego vehicle's current velocity is 4.300 m/s at x-direction and 0.400 m/s at y-direction. The ego vehicle's current acceleration is -1.800 m/s^2 at x-direction and -1.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"ubmZJYmWGA"}},"extra_info":{"index":236,"token":"ubmZJYmWGA","id":"ubmZJYmWGA","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.39,-0.08), (2.56,-0.19), (3.56,-0.29), (4.40,-0.34), (5.05,-0.34), (5.52,-0.33), (5.89,-0.32), (6.17,-0.30), (6.37,-0.29), (6.62,-0.26)]\nOption B\n  waypoints xy: [(2.03,0.08), (4.11,0.20), (6.24,0.37), (8.41,0.59), (10.63,0.86), (12.88,1.18), (15.09,1.53), (17.27,1.88), (19.42,2.22), (21.56,2.55)]\nOption C\n  waypoints xy: [(2.85,-0.63), (5.80,-1.86), (8.85,-3.60), (11.99,-5.79), (15.28,-8.31), (18.77,-11.01), (22.44,-13.84), (26.26,-16.75), (30.20,-19.69), (34.20,-22.64)]\nOption D\n  waypoints xy: [(7.94,-0.01), (15.91,-0.03), (23.89,-0.06), (31.87,-0.08), (39.84,-0.11), (47.82,-0.15), (55.79,-0.18), (63.75,-0.23), (71.71,-0.27), (79.66,-0.33)]\nOption E\n  waypoints xy: [(5.53,0.06), (10.73,0.06), (15.63,0.07), (20.11,0.07), (24.06,0.07), (27.39,0.08), (30.07,0.08), (32.17,0.05), (33.80,0.07), (35.08,0.08)]\nOption F\n  waypoints xy: [(3.11,-0.01), (6.67,-0.03), (10.61,-0.06), (14.88,-0.12), (19.48,-0.18), (24.37,-0.26), (29.43,-0.34), (34.55,-0.41), (39.76,-0.49), (45.04,-0.56)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.318564576337836,"cv_gap":15.06}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-134/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-134/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-134/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 11.497 m/s at x-direction and -0.068 m/s at y-direction. The ego vehicle's current acceleration is -0.380 m/s^2 at x-direction and 0.137 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-134"}},"extra_info":{"index":237,"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-134","id":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-134","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.64,0.14), (10.79,0.51), (15.38,1.05), (19.35,1.68), (22.64,2.32), (25.22,2.88), (27.14,3.29), (28.45,3.56), (29.25,3.71), (29.68,3.77)]\nOption B\n  waypoints xy: [(0.99,0.00), (2.45,0.01), (4.42,0.03), (6.86,0.04), (9.77,0.07), (13.10,0.10), (16.82,0.15), (20.89,0.20), (25.28,0.26), (29.92,0.33)]\nOption C\n  waypoints xy: [(0.48,-0.00), (0.66,-0.00), (0.68,-0.00), (0.67,-0.00), (0.67,-0.00), (0.67,-0.00), (0.67,-0.00), (0.67,-0.00), (0.67,-0.00), (0.69,-0.00)]\nOption D\n  waypoints xy: [(5.64,-0.02), (11.32,-0.04), (17.03,-0.08), (22.77,-0.12), (28.54,-0.16), (34.33,-0.20), (40.13,-0.23), (45.92,-0.27), (51.68,-0.32), (57.40,-0.37)]\nOption E\n  waypoints xy: [(3.09,-0.17), (6.27,-0.55), (9.47,-1.14), (12.63,-1.91), (15.71,-2.82), (18.64,-3.83), (21.41,-4.90), (24.02,-6.01), (26.47,-7.15), (28.75,-8.31)]\nOption F\n  waypoints xy: [(0.57,0.02), (1.15,0.09), (1.73,0.21), (2.31,0.37), (2.89,0.58), (3.46,0.84), (4.01,1.12), (4.55,1.42), (5.08,1.75), (5.59,2.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":11.497131892433869,"cv_gap":29.178}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"udRO85HDyM","cam_id":"4_resize","sample_timestamps":["000000009545_000500000000","000000009546_000000000000","000000009546_000500000000","000000009547_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009547_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"udRO85HDyM","cam_id":"2","sample_timestamps":["000000009545_000500000000","000000009546_000000000000","000000009546_000500000000","000000009547_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009547_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"udRO85HDyM","cam_id":"7","sample_timestamps":["000000009545_000500000000","000000009546_000000000000","000000009546_000500000000","000000009547_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009547_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.400 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"udRO85HDyM"}},"extra_info":{"index":238,"token":"udRO85HDyM","id":"udRO85HDyM","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.30,0.00), (2.28,0.00), (2.94,0.00), (3.28,0.00), (3.38,0.00), (3.39,0.00), (3.39,0.01), (3.39,0.01), (3.39,0.01), (3.41,0.01)]\nOption B\n  waypoints xy: [(4.59,-0.00), (9.23,0.05), (13.92,0.15), (18.65,0.36), (23.42,0.63), (28.19,0.95), (32.94,1.38), (37.67,1.81), (42.37,2.28), (47.04,2.76)]\nOption C\n  waypoints xy: [(4.55,-0.00), (9.35,-0.05), (14.38,-0.16), (19.62,-0.33), (25.06,-0.57), (30.73,-0.88), (36.56,-1.20), (42.51,-1.52), (48.60,-1.86), (54.79,-2.21)]\nOption D\n  waypoints xy: [(4.30,0.02), (8.59,0.10), (12.86,0.22), (17.11,0.36), (21.31,0.53), (25.45,0.69), (29.61,0.86), (33.74,1.02), (37.86,1.15), (41.96,1.26)]\nOption E\n  waypoints xy: [(1.82,-0.00), (3.65,-0.01), (5.47,-0.02), (7.28,-0.03), (9.08,-0.05), (10.87,-0.07), (12.66,-0.10), (14.44,-0.13), (16.20,-0.16), (17.94,-0.20)]\nOption F\n  waypoints xy: [(5.52,0.00), (10.99,0.02), (16.39,0.06), (21.74,0.13), (27.01,0.27), (32.22,0.49), (37.33,0.76), (42.36,1.07), (47.32,1.39), (52.22,1.73)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.6,"cv_gap":14.466}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"XRHmwlW9cf","cam_id":"4_resize","sample_timestamps":["000000003120_000000000000","000000003120_000500000000","000000003121_000000000000","000000003121_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003121_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XRHmwlW9cf","cam_id":"2","sample_timestamps":["000000003120_000000000000","000000003120_000500000000","000000003121_000000000000","000000003121_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003121_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XRHmwlW9cf","cam_id":"7","sample_timestamps":["000000003120_000000000000","000000003120_000500000000","000000003121_000000000000","000000003121_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003121_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 10.700 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"XRHmwlW9cf"}},"extra_info":{"index":239,"token":"XRHmwlW9cf","id":"XRHmwlW9cf","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.95,-0.02), (11.95,-0.07), (17.99,-0.14), (24.03,-0.21), (30.11,-0.27), (36.26,-0.30), (42.50,-0.34), (48.76,-0.39), (55.01,-0.45), (61.26,-0.48)]\nOption B\n  waypoints xy: [(5.21,0.00), (10.47,0.03), (15.80,0.07), (21.16,0.12), (26.55,0.17), (31.93,0.20), (37.32,0.23), (42.71,0.25), (48.09,0.27), (53.46,0.30)]\nOption C\n  waypoints xy: [(4.34,-0.00), (8.37,-0.00), (12.04,-0.01), (15.32,-0.01), (18.17,-0.01), (20.58,-0.02), (22.52,-0.02), (24.02,-0.02), (25.09,-0.02), (25.79,-0.02)]\nOption D\n  waypoints xy: [(0.11,-0.00), (0.47,-0.00), (1.38,-0.00), (2.98,-0.01), (5.32,-0.02), (8.37,-0.03), (12.06,-0.05), (16.27,-0.08), (20.88,-0.12), (25.82,-0.17)]\nOption E\n  waypoints xy: [(0.16,0.00), (0.33,0.00), (0.51,0.01), (0.68,0.01), (0.85,0.01), (1.03,0.01), (1.20,0.02), (1.38,0.02), (1.56,0.02), (1.77,0.03)]\nOption F\n  waypoints xy: [(1.83,0.50), (3.64,1.45), (5.33,2.83), (6.91,4.61), (8.39,6.70), (9.81,9.07), (11.24,11.67), (12.68,14.47), (14.17,17.43), (15.70,20.50)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.700467279516348,"cv_gap":28.22}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-184/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-184/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-184/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 6.421 m/s at x-direction and -0.106 m/s at y-direction. The ego vehicle's current acceleration is 0.503 m/s^2 at x-direction and 0.671 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-184"}},"extra_info":{"index":240,"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-184","id":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-184","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.61,0.07), (7.34,0.24), (11.16,0.47), (15.07,0.75), (19.04,1.07), (23.09,1.40), (27.19,1.73), (31.36,2.03), (35.57,2.27), (39.82,2.48)]\nOption B\n  waypoints xy: [(4.08,-0.03), (8.25,-0.09), (12.47,-0.16), (16.71,-0.24), (20.90,-0.32), (24.98,-0.39), (28.93,-0.46), (32.74,-0.53), (36.40,-0.61), (39.89,-0.69)]\nOption C\n  waypoints xy: [(-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (0.00,0.00), (0.07,0.00), (0.30,0.01)]\nOption D\n  waypoints xy: [(8.87,-0.06), (17.75,-0.24), (26.66,-0.52), (35.60,-0.93), (44.56,-1.46), (53.57,-2.10), (62.61,-2.86), (71.67,-3.72), (80.75,-4.66), (89.84,-5.67)]\nOption E\n  waypoints xy: [(3.19,-0.02), (6.37,-0.05), (9.55,-0.09), (12.73,-0.16), (15.91,-0.23), (19.11,-0.33), (22.33,-0.45), (25.56,-0.57), (28.77,-0.71), (31.98,-0.85)]\nOption F\n  waypoints xy: [(2.48,0.66), (5.01,2.13), (7.31,4.47), (9.24,7.57), (10.77,11.33), (11.93,15.64), (12.92,20.40), (13.84,25.54), (14.76,30.98), (15.71,36.67)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.422230371133171,"cv_gap":51.63}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/d954a84a4889671abb251469b61044ec-073/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d954a84a4889671abb251469b61044ec-073/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d954a84a4889671abb251469b61044ec-073/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.607 m/s at x-direction and -0.011 m/s at y-direction. The ego vehicle's current acceleration is -0.148 m/s^2 at x-direction and -0.009 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::d954a84a4889671abb251469b61044ec-073"}},"extra_info":{"index":241,"token":"waymo_e2e::d954a84a4889671abb251469b61044ec-073","id":"waymo_e2e::d954a84a4889671abb251469b61044ec-073","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.78,-0.00), (9.56,-0.00), (14.31,0.01), (19.05,0.03), (23.77,0.05), (28.48,0.07), (33.19,0.10), (37.89,0.13), (42.58,0.16), (47.28,0.20)]\nOption B\n  waypoints xy: [(1.82,-0.00), (3.65,-0.01), (5.47,-0.02), (7.28,-0.03), (9.08,-0.05), (10.87,-0.07), (12.66,-0.10), (14.44,-0.13), (16.20,-0.16), (17.94,-0.20)]\nOption C\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption D\n  waypoints xy: [(1.81,-0.01), (3.34,-0.03), (4.56,-0.06), (5.46,-0.08), (6.03,-0.09), (6.32,-0.09), (6.44,-0.10), (6.48,-0.10), (6.51,-0.10), (6.57,-0.10)]\nOption E\n  waypoints xy: [(5.38,0.04), (10.55,0.13), (15.42,0.27), (19.97,0.45), (24.13,0.64), (27.87,0.82), (31.16,1.00), (33.98,1.14), (36.29,1.26), (38.13,1.34)]\nOption F\n  waypoints xy: [(7.80,-0.01), (15.61,-0.03), (23.46,-0.07), (31.32,-0.12), (39.20,-0.18), (47.10,-0.23), (55.02,-0.28), (62.94,-0.33), (70.86,-0.36), (78.79,-0.38)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.6070840873207244,"cv_gap":11.364}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/a4a9b131ce4bec4b2bc8f43547295bfb-100/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a4a9b131ce4bec4b2bc8f43547295bfb-100/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a4a9b131ce4bec4b2bc8f43547295bfb-100/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.085 m/s at x-direction and 0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.176 m/s^2 at x-direction and -0.089 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::a4a9b131ce4bec4b2bc8f43547295bfb-100"}},"extra_info":{"index":242,"token":"waymo_e2e::a4a9b131ce4bec4b2bc8f43547295bfb-100","id":"waymo_e2e::a4a9b131ce4bec4b2bc8f43547295bfb-100","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.11,0.00), (6.21,0.00), (9.30,-0.01), (12.37,-0.03), (15.43,-0.06), (18.46,-0.09), (21.45,-0.12), (24.40,-0.15), (27.32,-0.18), (30.20,-0.21)]\nOption B\n  waypoints xy: [(3.23,-0.01), (6.12,-0.02), (8.62,-0.03), (10.67,-0.04), (12.26,-0.04), (13.40,-0.05), (14.11,-0.05), (14.47,-0.06), (14.58,-0.06), (14.63,-0.06)]\nOption C\n  waypoints xy: [(9.54,-0.02), (19.18,-0.06), (28.83,-0.07), (38.36,-0.07), (47.78,-0.11), (57.24,-0.21), (66.81,-0.38), (76.50,-0.66), (86.35,-1.08), (96.35,-1.61)]\nOption D\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption E\n  waypoints xy: [(6.69,-0.07), (13.32,-0.24), (19.90,-0.50), (26.43,-0.85), (32.91,-1.26), (39.32,-1.75), (45.67,-2.29), (51.95,-2.89), (58.13,-3.52), (64.24,-4.17)]\nOption F\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.084965105556757,"cv_gap":15.7}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/6d5de1422f116543822e55a229f7bced-102/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6d5de1422f116543822e55a229f7bced-102/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6d5de1422f116543822e55a229f7bced-102/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.647 m/s at x-direction and -0.008 m/s at y-direction. The ego vehicle's current acceleration is -0.265 m/s^2 at x-direction and -0.006 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::6d5de1422f116543822e55a229f7bced-102"}},"extra_info":{"index":243,"token":"waymo_e2e::6d5de1422f116543822e55a229f7bced-102","id":"waymo_e2e::6d5de1422f116543822e55a229f7bced-102","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.77,-0.01), (17.60,-0.00), (26.50,-0.00), (35.46,0.02), (44.45,0.03), (53.44,0.04), (62.38,0.05), (71.29,0.07), (80.20,0.07), (89.13,0.07)]\nOption B\n  waypoints xy: [(1.74,-0.00), (3.21,-0.01), (4.35,-0.02), (5.14,-0.03), (5.60,-0.03), (5.80,-0.03), (5.84,-0.03), (5.85,-0.03), (5.87,-0.03), (5.91,-0.03)]\nOption C\n  waypoints xy: [(1.80,0.00), (3.61,0.02), (5.43,0.04), (7.24,0.04), (9.07,0.06), (10.90,0.10), (12.75,0.10), (14.61,0.12), (16.46,0.14), (18.27,0.17)]\nOption D\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption E\n  waypoints xy: [(6.02,0.00), (12.04,0.01), (18.06,0.02), (24.06,0.03), (30.06,0.04), (36.03,0.04), (41.99,0.05), (47.93,0.07), (53.86,0.11), (59.76,0.16)]\nOption F\n  waypoints xy: [(4.83,0.13), (9.56,0.41), (14.15,0.77), (18.49,1.12), (22.47,1.42), (26.20,1.67), (29.74,1.86), (33.13,2.00), (36.33,2.12), (39.21,2.19)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.64671561835879,"cv_gap":12.417}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"0fFW9V4uBG","cam_id":"4_resize","sample_timestamps":["000000006759_000900000000","000000006760_000400000000","000000006760_000900000000","000000006761_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006761_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"0fFW9V4uBG","cam_id":"2","sample_timestamps":["000000006759_000900000000","000000006760_000400000000","000000006760_000900000000","000000006761_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006761_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"0fFW9V4uBG","cam_id":"7","sample_timestamps":["000000006759_000900000000","000000006760_000400000000","000000006760_000900000000","000000006761_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006761_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.500 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"0fFW9V4uBG"}},"extra_info":{"index":244,"token":"0fFW9V4uBG","id":"0fFW9V4uBG","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(9.53,0.00), (19.08,-0.01), (28.66,-0.01), (38.27,-0.01), (47.92,-0.02), (57.59,-0.03), (67.28,-0.02), (76.99,-0.02), (86.72,-0.01), (96.47,0.01)]\nOption B\n  waypoints xy: [(3.95,0.03), (8.10,0.09), (12.47,0.18), (17.04,0.31), (21.81,0.45), (26.75,0.62), (31.84,0.81), (37.04,1.00), (42.34,1.18), (47.69,1.37)]\nOption C\n  waypoints xy: [(2.21,0.04), (4.06,0.09), (5.55,0.14), (6.73,0.19), (7.64,0.23), (8.34,0.27), (8.82,0.30), (9.18,0.32), (9.46,0.34), (9.67,0.35)]\nOption D\n  waypoints xy: [(4.48,-0.01), (8.91,0.01), (13.27,0.07), (17.57,0.18), (21.83,0.34), (26.09,0.48), (30.36,0.59), (34.65,0.67), (38.95,0.72), (43.22,0.75)]\nOption E\n  waypoints xy: [(5.42,-0.01), (10.85,-0.03), (16.28,-0.06), (21.72,-0.09), (27.17,-0.13), (32.63,-0.18), (38.09,-0.22), (43.54,-0.26), (48.97,-0.30), (54.39,-0.34)]\nOption F\n  waypoints xy: [(2.72,-0.00), (5.48,-0.01), (8.27,-0.05), (11.08,-0.10), (13.86,-0.16), (16.62,-0.23), (19.32,-0.30), (21.97,-0.37), (24.57,-0.44), (27.12,-0.49)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.500909015790027,"cv_gap":16.821}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3a5443d94fedb99fcba4e75547dc8f82-106/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3a5443d94fedb99fcba4e75547dc8f82-106/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3a5443d94fedb99fcba4e75547dc8f82-106/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.350 m/s at x-direction and -0.074 m/s at y-direction. The ego vehicle's current acceleration is -0.359 m/s^2 at x-direction and 0.352 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3a5443d94fedb99fcba4e75547dc8f82-106"}},"extra_info":{"index":245,"token":"waymo_e2e::3a5443d94fedb99fcba4e75547dc8f82-106","id":"waymo_e2e::3a5443d94fedb99fcba4e75547dc8f82-106","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.29,-0.22), (2.57,-0.71), (3.77,-1.50), (4.81,-2.57), (5.66,-3.91), (6.29,-5.48), (6.76,-7.27), (7.12,-9.26), (7.42,-11.46), (7.69,-13.86)]\nOption B\n  waypoints xy: [(4.07,-0.02), (8.21,-0.05), (12.41,-0.09), (16.65,-0.13), (20.88,-0.17), (25.08,-0.19), (29.24,-0.19), (33.35,-0.17), (37.42,-0.14), (41.43,-0.09)]\nOption C\n  waypoints xy: [(2.91,0.11), (5.66,0.35), (8.23,0.67), (10.48,1.06), (12.30,1.43), (13.65,1.75), (14.57,2.00), (15.08,2.15), (15.41,2.24), (15.72,2.33)]\nOption D\n  waypoints xy: [(5.45,-0.03), (10.88,-0.08), (16.29,-0.18), (21.65,-0.32), (26.93,-0.48), (32.11,-0.67), (37.18,-0.85), (42.10,-1.02), (46.81,-1.16), (51.29,-1.27)]\nOption E\n  waypoints xy: [(7.30,-0.01), (14.57,-0.02), (21.81,-0.02), (29.03,-0.02), (36.21,-0.00), (43.35,0.01), (50.46,0.02), (57.52,0.03), (64.53,0.04), (71.48,0.07)]\nOption F\n  waypoints xy: [(0.16,-0.01), (0.87,-0.09), (2.14,-0.32), (3.68,-0.81), (5.18,-1.57), (6.51,-2.72), (7.64,-4.33), (8.59,-6.43), (9.43,-9.09), (10.26,-12.24)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.350312744499044,"cv_gap":25.233}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/51b54fcb826b2fed862a83f37b91a838-087/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/51b54fcb826b2fed862a83f37b91a838-087/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/51b54fcb826b2fed862a83f37b91a838-087/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.876 m/s at x-direction and 0.008 m/s at y-direction. The ego vehicle's current acceleration is -0.221 m/s^2 at x-direction and -0.059 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::51b54fcb826b2fed862a83f37b91a838-087"}},"extra_info":{"index":246,"token":"waymo_e2e::51b54fcb826b2fed862a83f37b91a838-087","id":"waymo_e2e::51b54fcb826b2fed862a83f37b91a838-087","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption B\n  waypoints xy: [(4.96,-0.01), (10.05,-0.01), (15.28,-0.02), (20.62,-0.03), (26.06,-0.03), (31.59,-0.03), (37.20,-0.04), (42.88,-0.06), (48.60,-0.08), (54.36,-0.11)]\nOption C\n  waypoints xy: [(11.66,-0.03), (23.32,-0.11), (34.98,-0.24), (46.62,-0.43), (58.26,-0.70), (69.91,-1.03), (81.56,-1.45), (93.21,-1.96), (104.86,-2.55), (116.50,-3.21)]\nOption D\n  waypoints xy: [(5.64,-0.01), (11.29,-0.02), (16.95,-0.03), (22.63,-0.05), (28.30,-0.06), (33.99,-0.07), (39.66,-0.07), (45.33,-0.08), (50.98,-0.07), (56.62,-0.04)]\nOption E\n  waypoints xy: [(4.97,-0.00), (9.88,-0.00), (14.72,-0.01), (19.46,-0.03), (24.09,-0.04), (28.59,-0.06), (32.98,-0.07), (37.26,-0.09), (41.41,-0.11), (45.42,-0.13)]\nOption F\n  waypoints xy: [(2.10,-0.08), (4.03,-0.21), (5.63,-0.35), (6.77,-0.48), (7.46,-0.56), (7.80,-0.61), (7.88,-0.62), (7.88,-0.62), (7.95,-0.63), (8.15,-0.66)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.8757305074560024,"cv_gap":16.45}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"RD0TcjCy64","cam_id":"4_resize","sample_timestamps":["000000000588_000800000000","000000000589_000300000000","000000000589_000800000000","000000000590_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000590_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"RD0TcjCy64","cam_id":"2","sample_timestamps":["000000000588_000800000000","000000000589_000300000000","000000000589_000800000000","000000000590_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000590_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"RD0TcjCy64","cam_id":"7","sample_timestamps":["000000000588_000800000000","000000000589_000300000000","000000000589_000800000000","000000000590_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000590_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with a constant speed**. The ego vehicle's current velocity is 4.700 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"RD0TcjCy64"}},"extra_info":{"index":247,"token":"RD0TcjCy64","id":"RD0TcjCy64","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.92,-0.02), (3.84,-0.11), (5.78,-0.34), (7.71,-0.81), (9.57,-1.61), (11.23,-2.80), (12.59,-4.37), (13.61,-6.26), (14.31,-8.46), (14.78,-10.91)]\nOption B\n  waypoints xy: [(5.28,0.00), (10.48,-0.00), (15.59,-0.03), (20.52,-0.06), (25.20,-0.10), (29.62,-0.14), (33.79,-0.18), (37.71,-0.22), (41.23,-0.27), (44.30,-0.30)]\nOption C\n  waypoints xy: [(5.73,-0.00), (11.50,-0.00), (17.31,0.01), (23.16,0.03), (29.03,0.04), (34.92,0.06), (40.82,0.08), (46.72,0.10), (52.63,0.12), (58.55,0.14)]\nOption D\n  waypoints xy: [(1.29,0.08), (2.71,0.30), (4.23,0.74), (5.81,1.45), (7.39,2.50), (8.90,3.89), (10.27,5.60), (11.48,7.60), (12.54,9.85), (13.45,12.31)]\nOption E\n  waypoints xy: [(2.39,0.01), (4.72,0.02), (7.06,0.03), (9.43,0.06), (11.82,0.10), (14.24,0.15), (16.65,0.22), (19.03,0.30), (21.38,0.42), (23.72,0.57)]\nOption F\n  waypoints xy: [(0.96,0.09), (2.12,0.35), (3.44,0.91), (4.82,1.87), (6.13,3.27), (7.24,5.13), (8.05,7.39), (8.59,10.00), (8.94,12.91), (9.18,16.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.701063709417264,"cv_gap":12.886}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"uksiUf4n5f","cam_id":"4_resize","sample_timestamps":["000000000578_000500000000","000000000579_000000000000","000000000579_000500000000","000000000580_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000580_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"uksiUf4n5f","cam_id":"2","sample_timestamps":["000000000578_000500000000","000000000579_000000000000","000000000579_000500000000","000000000580_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000580_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"uksiUf4n5f","cam_id":"7","sample_timestamps":["000000000578_000500000000","000000000579_000000000000","000000000579_000500000000","000000000580_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000580_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.900 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.600 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"uksiUf4n5f"}},"extra_info":{"index":248,"token":"uksiUf4n5f","id":"uksiUf4n5f","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.00,0.00), (3.68,0.01), (4.99,0.02), (5.91,0.02), (6.44,0.02), (6.66,0.03), (6.68,0.03), (6.68,0.03), (6.68,0.03), (6.68,0.03)]\nOption B\n  waypoints xy: [(3.03,-0.41), (6.46,-1.12), (10.27,-2.20), (14.42,-3.55), (18.86,-5.03), (23.55,-6.59), (28.46,-8.20), (33.56,-9.85), (38.78,-11.52), (44.14,-13.22)]\nOption C\n  waypoints xy: [(13.44,0.35), (26.82,1.53), (40.07,3.52), (53.17,6.32), (66.07,9.89), (78.73,14.22), (91.11,19.29), (103.17,25.06), (114.88,31.52), (126.21,38.63)]\nOption D\n  waypoints xy: [(2.48,0.01), (4.98,0.03), (7.50,0.06), (10.00,0.10), (12.50,0.13), (14.97,0.17), (17.41,0.20), (19.82,0.23), (22.19,0.26), (24.52,0.28)]\nOption E\n  waypoints xy: [(5.49,0.01), (10.60,0.05), (15.31,0.09), (19.61,0.15), (23.50,0.20), (26.79,0.25), (29.45,0.30), (31.47,0.34), (32.88,0.36), (33.76,0.38)]\nOption F\n  waypoints xy: [(4.30,0.10), (8.46,0.41), (12.64,0.81), (16.92,1.23), (21.35,1.61), (25.94,1.77), (30.64,1.89), (35.46,1.83), (40.41,1.65), (45.45,1.36)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.901020301937139,"cv_gap":17.622}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"bdO7xYvw4t","cam_id":"4_resize","sample_timestamps":["000000004610_000450000000","000000004610_000700000000","000000004610_000950000000","000000004611_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004611_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bdO7xYvw4t","cam_id":"2","sample_timestamps":["000000004609_000700000000","000000004610_000200000000","000000004610_000700000000","000000004611_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004611_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bdO7xYvw4t","cam_id":"7","sample_timestamps":["000000004609_000700000000","000000004610_000200000000","000000004610_000700000000","000000004611_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004611_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 7.200 m/s at x-direction and -0.200 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"bdO7xYvw4t"}},"extra_info":{"index":249,"token":"bdO7xYvw4t","id":"bdO7xYvw4t","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption B\n  waypoints xy: [(4.66,0.08), (9.45,0.31), (14.35,0.63), (19.36,1.01), (24.45,1.45), (29.59,1.91), (34.75,2.41), (39.90,2.93), (45.04,3.48), (50.16,4.04)]\nOption C\n  waypoints xy: [(2.28,-0.01), (4.29,-0.02), (6.00,-0.04), (7.39,-0.06), (8.55,-0.08), (9.60,-0.10), (10.61,-0.14), (11.61,-0.19), (12.60,-0.26), (13.56,-0.35)]\nOption D\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption E\n  waypoints xy: [(3.46,-0.01), (7.00,-0.07), (10.60,-0.16), (14.29,-0.29), (17.99,-0.42), (21.62,-0.54), (25.26,-0.67), (28.93,-0.79), (32.54,-0.90), (36.06,-0.99)]\nOption F\n  waypoints xy: [(6.84,-0.02), (13.66,-0.05), (20.50,-0.03), (27.37,0.06), (34.29,0.19), (41.23,0.31), (48.17,0.40), (55.08,0.48), (61.93,0.56), (68.67,0.66)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.202777242147643,"cv_gap":21.251}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-182/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-182/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-182/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 6.063 m/s at x-direction and -0.059 m/s at y-direction. The ego vehicle's current acceleration is 0.478 m/s^2 at x-direction and 0.528 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-182"}},"extra_info":{"index":250,"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-182","id":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-182","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.48,0.66), (5.01,2.13), (7.31,4.47), (9.24,7.57), (10.77,11.33), (11.93,15.64), (12.92,20.40), (13.84,25.54), (14.76,30.98), (15.71,36.67)]\nOption B\n  waypoints xy: [(4.08,-0.03), (8.25,-0.09), (12.47,-0.16), (16.71,-0.24), (20.90,-0.32), (24.98,-0.39), (28.93,-0.46), (32.74,-0.53), (36.40,-0.61), (39.89,-0.69)]\nOption C\n  waypoints xy: [(3.00,-0.01), (6.00,-0.02), (9.02,-0.04), (12.04,-0.07), (15.07,-0.11), (18.11,-0.14), (21.11,-0.18), (24.06,-0.23), (26.96,-0.29), (29.85,-0.36)]\nOption D\n  waypoints xy: [(5.38,0.01), (10.75,0.02), (16.08,0.03), (21.28,0.04), (26.33,0.04), (31.29,0.03), (36.20,0.01), (41.05,-0.05), (45.84,-0.16), (50.56,-0.35)]\nOption E\n  waypoints xy: [(3.61,0.07), (7.34,0.24), (11.16,0.47), (15.07,0.75), (19.04,1.07), (23.09,1.40), (27.19,1.73), (31.36,2.03), (35.57,2.27), (39.82,2.48)]\nOption F\n  waypoints xy: [(5.20,-0.02), (10.39,-0.06), (15.55,-0.12), (20.65,-0.18), (25.66,-0.24), (30.57,-0.28), (35.37,-0.30), (40.07,-0.32), (44.65,-0.32), (49.12,-0.32)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.062856967345556,"cv_gap":49.64}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"xrt7NBT2yr","cam_id":"4_resize","sample_timestamps":["000000011862_000900000000","000000011863_000400000000","000000011863_000900000000","000000011864_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000011864_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"xrt7NBT2yr","cam_id":"2","sample_timestamps":["000000011862_000900000000","000000011863_000400000000","000000011863_000900000000","000000011864_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000011864_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"xrt7NBT2yr","cam_id":"7","sample_timestamps":["000000011862_000900000000","000000011863_000400000000","000000011863_000900000000","000000011864_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000011864_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"xrt7NBT2yr"}},"extra_info":{"index":251,"token":"xrt7NBT2yr","id":"xrt7NBT2yr","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.41,-0.00), (2.32,-0.01), (2.76,-0.01), (2.86,-0.01), (2.85,-0.01), (2.85,-0.01), (2.84,-0.01), (2.84,-0.01), (2.84,-0.01), (2.84,-0.01)]\nOption B\n  waypoints xy: [(3.93,-0.08), (7.87,-0.27), (11.84,-0.49), (15.87,-0.63), (19.93,-0.60), (24.03,-0.46), (28.15,-0.27), (32.33,-0.07), (36.59,0.15), (40.93,0.38)]\nOption C\n  waypoints xy: [(4.52,-0.00), (8.98,-0.00), (13.33,-0.00), (17.59,-0.00), (21.75,-0.01), (25.78,-0.01), (29.65,-0.02), (33.34,-0.03), (36.81,-0.04), (40.05,-0.06)]\nOption D\n  waypoints xy: [(10.94,0.01), (21.80,0.04), (32.57,0.06), (43.25,0.10), (53.86,0.16), (64.37,0.24), (74.77,0.33), (85.04,0.44), (95.16,0.56), (105.17,0.68)]\nOption E\n  waypoints xy: [(2.03,-0.00), (4.19,-0.01), (6.45,-0.01), (8.79,-0.02), (11.18,-0.03), (13.56,-0.04), (15.87,-0.05), (18.11,-0.06), (20.29,-0.08), (22.37,-0.10)]\nOption F\n  waypoints xy: [(4.27,0.02), (8.68,0.07), (13.18,0.14), (17.77,0.25), (22.40,0.37), (27.06,0.51), (31.71,0.66), (36.36,0.81), (40.99,0.97), (45.58,1.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.5,"cv_gap":19.64}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0b860fa8c13bc787e68cc44765b8064b-125/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0b860fa8c13bc787e68cc44765b8064b-125/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0b860fa8c13bc787e68cc44765b8064b-125/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.648 m/s at x-direction and -0.061 m/s at y-direction. The ego vehicle's current acceleration is -0.451 m/s^2 at x-direction and 0.297 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0b860fa8c13bc787e68cc44765b8064b-125"}},"extra_info":{"index":252,"token":"waymo_e2e::0b860fa8c13bc787e68cc44765b8064b-125","id":"waymo_e2e::0b860fa8c13bc787e68cc44765b8064b-125","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.85,-0.00), (15.67,0.00), (23.45,0.02), (31.19,0.05), (38.88,0.08), (46.53,0.12), (54.16,0.16), (61.75,0.20), (69.31,0.23), (76.83,0.27)]\nOption B\n  waypoints xy: [(4.85,-0.00), (9.70,-0.01), (14.52,-0.03), (19.33,-0.05), (24.13,-0.07), (28.93,-0.09), (33.75,-0.11), (38.58,-0.12), (43.44,-0.14), (48.32,-0.15)]\nOption C\n  waypoints xy: [(-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00)]\nOption D\n  waypoints xy: [(0.53,0.02), (1.36,0.11), (2.58,0.34), (4.18,0.89), (6.06,1.91), (8.02,3.54), (9.84,5.81), (11.39,8.69), (12.61,12.04), (13.48,15.78)]\nOption E\n  waypoints xy: [(1.37,-0.34), (2.73,-1.01), (4.03,-2.03), (5.23,-3.41), (6.34,-5.12), (7.41,-7.11), (8.47,-9.34), (9.56,-11.77), (10.67,-14.37), (11.82,-17.08)]\nOption F\n  waypoints xy: [(4.51,-0.00), (8.63,-0.01), (12.25,-0.03), (15.28,-0.04), (17.63,-0.06), (19.27,-0.07), (20.19,-0.08), (20.58,-0.09), (20.70,-0.09), (20.75,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.648051467460675,"cv_gap":27.905}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/df9b1e04ea8bff3601841004148f0e97-195/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/df9b1e04ea8bff3601841004148f0e97-195/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/df9b1e04ea8bff3601841004148f0e97-195/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.170 m/s at x-direction and 0.037 m/s at y-direction. The ego vehicle's current acceleration is -0.261 m/s^2 at x-direction and 0.006 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::df9b1e04ea8bff3601841004148f0e97-195"}},"extra_info":{"index":253,"token":"waymo_e2e::df9b1e04ea8bff3601841004148f0e97-195","id":"waymo_e2e::df9b1e04ea8bff3601841004148f0e97-195","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.97,0.00), (12.00,0.02), (18.09,0.04), (24.25,0.08), (30.47,0.11), (36.73,0.16), (43.03,0.21), (49.37,0.28), (55.74,0.35), (62.12,0.43)]\nOption B\n  waypoints xy: [(2.46,0.01), (4.65,0.02), (6.50,0.04), (7.98,0.06), (9.07,0.08), (9.75,0.09), (10.06,0.09), (10.12,0.09), (10.14,0.09), (10.18,0.09)]\nOption C\n  waypoints xy: [(2.66,0.00), (5.31,0.01), (7.96,0.02), (10.58,0.03), (13.18,0.04), (15.77,0.05), (18.31,0.05), (20.79,0.06), (23.21,0.06), (25.62,0.06)]\nOption D\n  waypoints xy: [(5.89,-0.00), (11.72,0.00), (17.41,0.01), (22.94,0.02), (28.32,0.04), (33.56,0.06), (38.63,0.07), (43.53,0.08), (48.24,0.09), (52.75,0.09)]\nOption E\n  waypoints xy: [(6.03,-0.01), (12.07,-0.04), (18.10,-0.07), (24.13,-0.11), (30.13,-0.16), (36.10,-0.21), (42.05,-0.25), (47.96,-0.30), (53.84,-0.36), (59.67,-0.42)]\nOption F\n  waypoints xy: [(7.25,-0.00), (14.48,-0.00), (21.70,-0.00), (28.87,-0.01), (35.96,-0.04), (42.96,-0.07), (49.86,-0.12), (56.66,-0.17), (63.38,-0.23), (70.01,-0.28)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.169797396786717,"cv_gap":15.447}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/f299afed65cc379fd9ce3bffa7b09411-222/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f299afed65cc379fd9ce3bffa7b09411-222/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f299afed65cc379fd9ce3bffa7b09411-222/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.577 m/s at x-direction and -0.009 m/s at y-direction. The ego vehicle's current acceleration is -0.382 m/s^2 at x-direction and -0.072 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::f299afed65cc379fd9ce3bffa7b09411-222"}},"extra_info":{"index":254,"token":"waymo_e2e::f299afed65cc379fd9ce3bffa7b09411-222","id":"waymo_e2e::f299afed65cc379fd9ce3bffa7b09411-222","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.59,-0.28), (3.00,-1.18), (4.13,-2.54), (5.05,-4.14), (5.72,-5.88), (6.32,-7.68), (6.86,-9.51), (7.33,-11.37), (7.73,-13.23), (8.09,-15.02)]\nOption B\n  waypoints xy: [(3.07,0.01), (5.94,0.03), (8.55,0.05), (10.82,0.07), (12.68,0.07), (14.13,0.06), (15.23,0.05), (16.05,0.04), (16.64,0.04), (17.04,0.04)]\nOption C\n  waypoints xy: [(3.27,0.01), (6.56,0.03), (9.87,0.06), (13.17,0.08), (16.48,0.10), (19.80,0.11), (23.11,0.12), (26.39,0.12), (29.63,0.12), (32.85,0.11)]\nOption D\n  waypoints xy: [(4.99,-0.01), (10.04,-0.02), (15.15,-0.03), (20.30,-0.05), (25.50,-0.08), (30.72,-0.12), (35.98,-0.15), (41.25,-0.19), (46.53,-0.22), (51.82,-0.25)]\nOption E\n  waypoints xy: [(1.32,-0.35), (2.58,-0.93), (3.79,-1.75), (4.91,-2.85), (5.93,-4.25), (6.83,-5.87), (7.65,-7.62), (8.44,-9.47), (9.26,-11.48), (10.13,-13.63)]\nOption F\n  waypoints xy: [(7.34,0.02), (14.62,0.06), (21.85,0.16), (29.03,0.31), (36.14,0.52), (43.19,0.81), (50.15,1.22), (57.00,1.72), (63.75,2.34), (70.38,3.08)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.576830799264069,"cv_gap":16.02}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"gjsLAPbub2","cam_id":"4_resize","sample_timestamps":["000000003864_000400000000","000000003864_000900000000","000000003865_000400000000","000000003865_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003865_000950000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"gjsLAPbub2","cam_id":"2","sample_timestamps":["000000003864_000400000000","000000003864_000900000000","000000003865_000400000000","000000003865_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003865_000950000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"gjsLAPbub2","cam_id":"7","sample_timestamps":["000000003864_000400000000","000000003864_000900000000","000000003865_000400000000","000000003865_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003865_000950000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.200 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"gjsLAPbub2"}},"extra_info":{"index":255,"token":"gjsLAPbub2","id":"gjsLAPbub2","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.59,-0.19), (13.23,-0.62), (20.00,-1.23), (26.94,-1.92), (34.06,-2.63), (41.32,-3.34), (48.66,-4.04), (56.02,-4.72), (63.37,-5.39), (70.71,-6.10)]\nOption B\n  waypoints xy: [(2.23,0.00), (4.21,0.01), (5.94,0.01), (7.40,0.02), (8.61,0.02), (9.56,0.02), (10.28,0.03), (10.76,0.03), (11.07,0.03), (11.28,0.03)]\nOption C\n  waypoints xy: [(6.68,-0.03), (13.40,-0.12), (20.14,-0.26), (26.89,-0.46), (33.66,-0.71), (40.44,-0.99), (47.22,-1.30), (54.00,-1.63), (60.79,-1.97), (67.58,-2.32)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(5.88,-0.01), (11.78,0.08), (17.69,0.41), (23.59,0.93), (29.50,1.45), (35.43,1.86), (41.39,2.09), (47.36,2.16), (53.36,2.14), (59.38,2.08)]\nOption F\n  waypoints xy: [(2.19,0.00), (4.36,0.01), (6.48,0.01), (8.57,0.01), (10.64,-0.00), (12.70,-0.02), (14.75,-0.03), (16.77,-0.04), (18.73,-0.05), (20.61,-0.06)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.2,"cv_gap":9.736}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"4JyxpDZUr2","cam_id":"4_resize","sample_timestamps":["000000014634_000100000000","000000014634_000600000000","000000014635_000100000000","000000014635_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000014635_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4JyxpDZUr2","cam_id":"2","sample_timestamps":["000000014634_000100000000","000000014634_000600000000","000000014635_000100000000","000000014635_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000014635_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4JyxpDZUr2","cam_id":"7","sample_timestamps":["000000014634_000100000000","000000014634_000600000000","000000014635_000100000000","000000014635_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000014635_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"4JyxpDZUr2"}},"extra_info":{"index":256,"token":"4JyxpDZUr2","id":"4JyxpDZUr2","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.97,-0.04), (11.97,-0.12), (18.00,-0.27), (24.04,-0.46), (30.13,-0.68), (36.28,-0.95), (42.47,-1.24), (48.70,-1.57), (54.94,-1.93), (61.19,-2.30)]\nOption B\n  waypoints xy: [(6.82,-0.10), (13.68,-0.38), (20.56,-0.82), (27.47,-1.42), (34.42,-2.14), (41.41,-2.97), (48.45,-3.89), (55.52,-4.85), (62.65,-5.83), (69.81,-6.83)]\nOption C\n  waypoints xy: [(1.80,0.00), (3.61,0.02), (5.43,0.04), (7.24,0.04), (9.07,0.06), (10.90,0.10), (12.75,0.10), (14.61,0.12), (16.46,0.14), (18.27,0.17)]\nOption D\n  waypoints xy: [(7.81,-0.00), (15.64,0.01), (23.50,0.03), (31.37,0.06), (39.25,0.12), (47.14,0.18), (55.02,0.26), (62.88,0.33), (70.71,0.41), (78.52,0.48)]\nOption E\n  waypoints xy: [(9.58,0.00), (19.09,0.02), (28.50,0.07), (37.80,0.13), (47.00,0.19), (56.09,0.24), (65.06,0.30), (73.89,0.34), (82.59,0.37), (91.17,0.39)]\nOption F\n  waypoints xy: [(1.46,-0.00), (2.77,0.00), (3.93,0.00), (4.94,0.00), (5.83,0.01), (6.65,0.01), (7.43,0.01), (8.19,0.00), (8.92,-0.01), (9.64,-0.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.7,"cv_gap":8.828}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"StpGI5Y6uA","cam_id":"4_resize","sample_timestamps":["000000024123_000100000000","000000024123_000600000000","000000024124_000100000000","000000024124_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000024124_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"StpGI5Y6uA","cam_id":"2","sample_timestamps":["000000024123_000100000000","000000024123_000600000000","000000024124_000100000000","000000024124_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000024124_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"StpGI5Y6uA","cam_id":"7","sample_timestamps":["000000024123_000100000000","000000024123_000600000000","000000024124_000100000000","000000024124_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000024124_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.900 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"StpGI5Y6uA"}},"extra_info":{"index":257,"token":"StpGI5Y6uA","id":"StpGI5Y6uA","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.73,-0.01), (15.47,-0.02), (23.18,-0.03), (30.87,-0.03), (38.53,-0.03), (46.15,-0.02), (53.73,-0.02), (61.24,-0.02), (68.67,-0.02), (76.02,-0.03)]\nOption B\n  waypoints xy: [(3.41,-0.01), (6.85,-0.12), (10.33,-0.34), (13.85,-0.67), (17.37,-1.08), (20.91,-1.54), (24.45,-2.00), (28.01,-2.46), (31.55,-2.93), (35.04,-3.41)]\nOption C\n  waypoints xy: [(3.86,-0.01), (7.73,-0.01), (11.62,-0.02), (15.50,-0.03), (19.36,-0.03), (23.17,-0.03), (26.96,-0.03), (30.72,-0.03), (34.48,-0.03), (38.23,-0.03)]\nOption D\n  waypoints xy: [(4.01,-0.04), (8.03,-0.09), (12.05,-0.13), (16.09,-0.18), (20.13,-0.26), (24.16,-0.31), (28.17,-0.35), (32.19,-0.44), (36.22,-0.49), (40.27,-0.49)]\nOption E\n  waypoints xy: [(0.85,-0.00), (1.70,-0.00), (2.55,-0.01), (3.39,-0.01), (4.24,-0.02), (5.09,-0.03), (5.93,-0.04), (6.76,-0.07), (7.57,-0.09), (8.38,-0.10)]\nOption F\n  waypoints xy: [(0.52,-0.00), (0.79,-0.00), (0.92,-0.00), (1.00,0.00), (1.01,0.00), (1.03,0.00), (1.05,0.00), (1.07,0.00), (1.08,0.00), (1.10,0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.7,"cv_gap":7.28}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ZjUD8OFSXe","cam_id":"4_resize","sample_timestamps":["000000006339_000400000000","000000006339_000900000000","000000006340_000400000000","000000006340_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006340_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ZjUD8OFSXe","cam_id":"2","sample_timestamps":["000000006339_000400000000","000000006339_000900000000","000000006340_000400000000","000000006340_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006340_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ZjUD8OFSXe","cam_id":"7","sample_timestamps":["000000006339_000400000000","000000006339_000900000000","000000006340_000400000000","000000006340_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006340_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn left with an acceleration**. The ego vehicle's current velocity is 3.800 m/s at x-direction and -0.500 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and 1.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"ZjUD8OFSXe"}},"extra_info":{"index":258,"token":"ZjUD8OFSXe","id":"ZjUD8OFSXe","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.13,0.40), (4.37,1.17), (6.68,2.35), (9.03,3.95), (11.40,5.93), (13.75,8.27), (16.16,10.91), (18.67,13.76), (21.29,16.82), (24.00,20.03)]\nOption B\n  waypoints xy: [(1.83,-0.05), (3.69,-0.17), (5.56,-0.34), (7.43,-0.57), (9.32,-0.83), (11.22,-1.13), (13.15,-1.47), (15.09,-1.83), (17.04,-2.21), (18.98,-2.60)]\nOption C\n  waypoints xy: [(6.56,0.01), (13.16,0.02), (19.80,0.07), (26.48,0.16), (33.19,0.31), (39.92,0.51), (46.64,0.75), (53.34,1.02), (60.03,1.28), (66.69,1.53)]\nOption D\n  waypoints xy: [(7.11,0.00), (14.20,0.09), (21.26,0.28), (28.25,0.58), (35.25,1.01), (42.25,1.56), (49.23,2.18), (56.22,2.84), (63.22,3.52), (70.25,4.21)]\nOption E\n  waypoints xy: [(3.43,-0.08), (6.85,-0.24), (10.25,-0.46), (13.63,-0.70), (16.94,-0.95), (20.14,-1.18), (23.16,-1.39), (26.01,-1.58), (28.69,-1.76), (31.21,-1.93)]\nOption F\n  waypoints xy: [(3.14,-0.30), (6.17,-0.97), (9.11,-1.86), (12.04,-2.88), (14.99,-3.95), (17.95,-5.05), (20.90,-6.15), (23.85,-7.25), (26.81,-8.38), (29.76,-9.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.83275357934736,"cv_gap":23.505}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"81c1VhVidF","cam_id":"4_resize","sample_timestamps":["000000013330_000650000000","000000013330_000900000000","000000013331_000150000000","000000013331_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000013331_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"81c1VhVidF","cam_id":"2","sample_timestamps":["000000013329_000900000000","000000013330_000400000000","000000013330_000900000000","000000013331_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000013331_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"81c1VhVidF","cam_id":"7","sample_timestamps":["000000013329_000900000000","000000013330_000400000000","000000013330_000900000000","000000013331_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000013331_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 6.100 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"81c1VhVidF"}},"extra_info":{"index":259,"token":"81c1VhVidF","id":"81c1VhVidF","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(13.78,0.11), (27.53,0.44), (41.27,0.98), (55.02,1.74), (68.78,2.72), (82.55,3.89), (96.31,5.23), (110.06,6.74), (123.79,8.38), (137.50,10.13)]\nOption B\n  waypoints xy: [(1.31,-0.29), (2.56,-0.87), (3.69,-1.78), (4.62,-3.04), (5.30,-4.61), (5.70,-6.45), (5.84,-8.52), (5.82,-10.76), (5.69,-13.18), (5.51,-15.76)]\nOption C\n  waypoints xy: [(2.39,0.01), (4.62,0.01), (6.68,0.02), (8.55,0.04), (10.21,0.05), (11.66,0.06), (12.88,0.06), (13.88,0.07), (14.65,0.07), (15.22,0.07)]\nOption D\n  waypoints xy: [(3.16,0.00), (6.28,0.02), (9.34,0.04), (12.37,0.08), (15.39,0.13), (18.40,0.19), (21.43,0.26), (24.48,0.34), (27.54,0.41), (30.62,0.49)]\nOption E\n  waypoints xy: [(4.86,0.00), (9.72,0.02), (14.57,0.04), (19.41,0.06), (24.24,0.09), (29.07,0.13), (33.88,0.16), (38.68,0.19), (43.47,0.22), (48.27,0.24)]\nOption F\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.100819617067857,"cv_gap":15.393}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"PfuLk38T1W","cam_id":"4_resize","sample_timestamps":["000000005040_000050000000","000000005040_000300000000","000000005040_000550000000","000000005040_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005040_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PfuLk38T1W","cam_id":"2","sample_timestamps":["000000005039_000300000000","000000005039_000800000000","000000005040_000300000000","000000005040_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005040_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PfuLk38T1W","cam_id":"7","sample_timestamps":["000000005039_000300000000","000000005039_000800000000","000000005040_000300000000","000000005040_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005040_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.300 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"PfuLk38T1W"}},"extra_info":{"index":260,"token":"PfuLk38T1W","id":"PfuLk38T1W","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.04,-0.01), (6.12,-0.04), (9.25,-0.08), (12.40,-0.15), (15.57,-0.23), (18.76,-0.34), (21.96,-0.46), (25.15,-0.58), (28.32,-0.69), (31.44,-0.80)]\nOption B\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption C\n  waypoints xy: [(2.70,0.01), (5.12,0.02), (7.24,0.04), (9.06,0.06), (10.57,0.08), (11.79,0.09), (12.76,0.11), (13.52,0.12), (14.11,0.14), (14.58,0.16)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(4.67,-0.01), (9.49,-0.01), (14.45,-0.02), (19.53,-0.03), (24.72,-0.04), (30.00,-0.05), (35.35,-0.06), (40.73,-0.07), (46.14,-0.07), (51.57,-0.07)]\nOption F\n  waypoints xy: [(5.36,0.12), (10.73,0.25), (16.11,0.43), (21.52,0.61), (26.93,0.92), (32.37,1.23), (37.83,1.54), (43.30,1.91), (48.77,2.34), (54.22,2.71)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.300793600809345,"cv_gap":16.66}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/66cfc35624f896de4bad434f7ea8e36c-210/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/66cfc35624f896de4bad434f7ea8e36c-210/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/66cfc35624f896de4bad434f7ea8e36c-210/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.755 m/s at x-direction and -0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.220 m/s^2 at x-direction and 0.008 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::66cfc35624f896de4bad434f7ea8e36c-210"}},"extra_info":{"index":261,"token":"waymo_e2e::66cfc35624f896de4bad434f7ea8e36c-210","id":"waymo_e2e::66cfc35624f896de4bad434f7ea8e36c-210","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.25,-0.01), (14.41,-0.01), (21.44,-0.02), (28.30,-0.02), (34.94,-0.02), (41.34,-0.03), (47.48,-0.03), (53.36,-0.04), (58.98,-0.05), (64.34,-0.07)]\nOption B\n  waypoints xy: [(4.95,-0.02), (9.87,-0.05), (14.76,-0.08), (19.62,-0.12), (24.45,-0.17), (29.22,-0.21), (33.94,-0.25), (38.65,-0.29), (43.36,-0.33), (48.09,-0.37)]\nOption C\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption D\n  waypoints xy: [(2.64,-0.00), (5.03,-0.01), (7.16,-0.01), (8.97,-0.02), (10.44,-0.02), (11.52,-0.03), (12.22,-0.03), (12.58,-0.03), (12.73,-0.03), (12.79,-0.03)]\nOption E\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption F\n  waypoints xy: [(2.81,0.01), (5.64,0.04), (8.49,0.05), (11.36,0.05), (14.25,0.05), (17.16,0.03), (20.08,0.02), (23.01,0.02), (25.90,0.05), (28.74,0.08)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.755276464162927,"cv_gap":15.654}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/390023c32e8bc1140d82bae15c6f4f24-073/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/390023c32e8bc1140d82bae15c6f4f24-073/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/390023c32e8bc1140d82bae15c6f4f24-073/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.056 m/s at x-direction and -0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.035 m/s^2 at x-direction and 0.011 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::390023c32e8bc1140d82bae15c6f4f24-073"}},"extra_info":{"index":262,"token":"waymo_e2e::390023c32e8bc1140d82bae15c6f4f24-073","id":"waymo_e2e::390023c32e8bc1140d82bae15c6f4f24-073","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.14,-0.06), (10.35,-0.11), (15.61,-0.17), (20.94,-0.23), (26.30,-0.29), (31.69,-0.22), (37.11,-0.10), (42.55,0.15), (48.01,0.40), (53.47,0.66)]\nOption B\n  waypoints xy: [(1.53,-0.01), (3.06,-0.01), (4.59,-0.01), (6.17,-0.01), (7.74,-0.01), (9.26,-0.00), (10.74,0.01), (12.20,0.01), (13.65,0.02), (15.14,0.04)]\nOption C\n  waypoints xy: [(4.24,-0.00), (8.37,0.01), (12.38,0.04), (16.20,0.08), (19.80,0.13), (23.19,0.19), (26.39,0.28), (29.41,0.41), (32.28,0.59), (34.99,0.86)]\nOption D\n  waypoints xy: [(4.19,-0.01), (8.40,-0.03), (12.61,-0.09), (16.82,-0.17), (21.00,-0.29), (25.11,-0.42), (29.14,-0.59), (33.10,-0.79), (37.01,-1.02), (40.86,-1.29)]\nOption E\n  waypoints xy: [(1.54,0.00), (2.86,-0.00), (3.96,-0.00), (4.79,-0.01), (5.35,-0.01), (5.67,-0.01), (5.80,-0.01), (5.85,-0.01), (5.87,-0.01), (5.90,-0.01)]\nOption F\n  waypoints xy: [(6.42,0.00), (12.90,0.07), (19.43,0.14), (26.00,0.22), (32.65,0.29), (39.38,0.37), (46.22,0.51), (53.09,0.59), (59.92,0.66), (66.62,0.74)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.055730352770832,"cv_gap":9.324}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/c449ffdae97cba80dd23c73e3d68fe3e-073/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c449ffdae97cba80dd23c73e3d68fe3e-073/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c449ffdae97cba80dd23c73e3d68fe3e-073/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.441 m/s at x-direction and -0.025 m/s at y-direction. The ego vehicle's current acceleration is -0.169 m/s^2 at x-direction and -0.017 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c449ffdae97cba80dd23c73e3d68fe3e-073"}},"extra_info":{"index":263,"token":"waymo_e2e::c449ffdae97cba80dd23c73e3d68fe3e-073","id":"waymo_e2e::c449ffdae97cba80dd23c73e3d68fe3e-073","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.53,-0.04), (9.41,-0.10), (14.59,-0.20), (20.00,-0.34), (25.55,-0.52), (31.22,-0.73), (37.00,-0.95), (42.86,-1.18), (48.80,-1.41), (54.79,-1.65)]\nOption B\n  waypoints xy: [(1.79,-0.01), (3.24,-0.02), (4.33,-0.03), (5.02,-0.04), (5.33,-0.05), (5.39,-0.05), (5.40,-0.05), (5.40,-0.05), (5.41,-0.05), (5.48,-0.05)]\nOption C\n  waypoints xy: [(4.16,-0.05), (8.24,-0.18), (12.22,-0.36), (16.19,-0.45), (20.12,-0.49), (23.99,-0.49), (27.80,-0.41), (31.53,-0.32), (35.14,-0.20), (38.62,-0.04)]\nOption D\n  waypoints xy: [(9.23,-0.03), (18.49,-0.07), (27.78,-0.14), (37.11,-0.24), (46.46,-0.38), (55.86,-0.55), (65.27,-0.76), (74.69,-1.02), (84.11,-1.33), (93.55,-1.67)]\nOption E\n  waypoints xy: [(1.70,-0.00), (3.41,0.02), (5.13,0.01), (6.86,0.01), (8.60,0.01), (10.35,0.01), (12.07,-0.01), (13.73,-0.04), (15.33,-0.05), (16.85,-0.08)]\nOption F\n  waypoints xy: [(4.47,-0.00), (9.15,0.01), (14.04,0.03), (19.12,0.06), (24.37,0.10), (29.75,0.16), (35.23,0.24), (40.81,0.34), (46.46,0.45), (52.19,0.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4407060206964815,"cv_gap":11.817}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"WIBkwOwjLq","cam_id":"4_resize","sample_timestamps":["000000006469_000500000000","000000006470_000000000000","000000006470_000500000000","000000006471_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006471_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"WIBkwOwjLq","cam_id":"2","sample_timestamps":["000000006469_000500000000","000000006470_000000000000","000000006470_000500000000","000000006471_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006471_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"WIBkwOwjLq","cam_id":"7","sample_timestamps":["000000006469_000500000000","000000006470_000000000000","000000006470_000500000000","000000006471_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006471_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"WIBkwOwjLq"}},"extra_info":{"index":264,"token":"WIBkwOwjLq","id":"WIBkwOwjLq","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.71,0.00), (1.46,0.01), (2.26,0.02), (3.11,0.03), (3.96,0.05), (4.80,0.06), (5.60,0.07), (6.38,0.08), (7.15,0.09), (7.90,0.11)]\nOption B\n  waypoints xy: [(7.78,-0.03), (15.55,-0.12), (23.30,-0.28), (30.98,-0.50), (38.60,-0.80), (46.16,-1.18), (53.67,-1.63), (61.10,-2.14), (68.44,-2.70), (75.69,-3.32)]\nOption C\n  waypoints xy: [(6.78,-0.04), (13.55,-0.12), (20.30,-0.27), (27.02,-0.47), (33.69,-0.72), (40.32,-1.01), (46.91,-1.32), (53.45,-1.66), (59.94,-2.00), (66.36,-2.35)]\nOption D\n  waypoints xy: [(0.58,-0.01), (1.08,-0.01), (1.51,-0.02), (1.86,-0.03), (2.14,-0.03), (2.37,-0.04), (2.58,-0.04), (2.78,-0.05), (3.01,-0.06), (3.26,-0.06)]\nOption E\n  waypoints xy: [(3.61,0.07), (7.34,0.24), (11.16,0.47), (15.07,0.75), (19.04,1.07), (23.09,1.40), (27.19,1.73), (31.36,2.03), (35.57,2.27), (39.82,2.48)]\nOption F\n  waypoints xy: [(6.13,-0.13), (12.30,-0.45), (18.48,-1.01), (24.66,-1.79), (30.82,-2.79), (36.94,-3.98), (42.99,-5.34), (48.98,-6.83), (54.89,-8.41), (60.70,-10.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.6,"cv_gap":4.74}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"XPUiwJkF8l","cam_id":"4_resize","sample_timestamps":["000000002315_000250000000","000000002315_000500000000","000000002315_000750000000","000000002316_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002316_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XPUiwJkF8l","cam_id":"2","sample_timestamps":["000000002314_000500000000","000000002315_000000000000","000000002315_000500000000","000000002316_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002316_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XPUiwJkF8l","cam_id":"7","sample_timestamps":["000000002314_000500000000","000000002315_000000000000","000000002315_000500000000","000000002316_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002316_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -3.200 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"XPUiwJkF8l"}},"extra_info":{"index":265,"token":"XPUiwJkF8l","id":"XPUiwJkF8l","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.15,0.00), (0.26,0.00), (0.38,0.00), (0.50,0.01), (0.61,0.01), (0.72,0.01), (0.83,0.01), (0.95,0.01), (1.07,0.02), (1.20,0.02)]\nOption B\n  waypoints xy: [(6.27,-0.01), (12.58,-0.02), (18.94,-0.04), (25.34,-0.05), (31.78,-0.06), (38.27,-0.06), (44.79,-0.05), (51.34,-0.02), (57.90,0.02), (64.45,0.07)]\nOption C\n  waypoints xy: [(3.77,0.01), (7.77,0.03), (11.99,0.05), (16.42,0.07), (21.01,0.08), (25.76,0.09), (30.66,0.10), (35.72,0.12), (40.95,0.16), (46.36,0.24)]\nOption D\n  waypoints xy: [(4.57,-0.02), (9.21,-0.07), (13.91,-0.14), (18.68,-0.24), (23.50,-0.36), (28.38,-0.52), (33.29,-0.69), (38.22,-0.89), (43.17,-1.11), (48.14,-1.34)]\nOption E\n  waypoints xy: [(0.85,-0.00), (1.70,-0.00), (2.55,-0.01), (3.39,-0.01), (4.24,-0.02), (5.09,-0.03), (5.93,-0.04), (6.76,-0.07), (7.57,-0.09), (8.38,-0.10)]\nOption F\n  waypoints xy: [(4.71,-0.00), (9.17,-0.02), (13.42,-0.03), (17.52,-0.05), (21.56,-0.08), (25.54,-0.12), (29.51,-0.16), (33.53,-0.20), (37.66,-0.24), (41.89,-0.29)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.7,"cv_gap":7.327}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/a490e2f1a963a17f277295f208742cce-124/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a490e2f1a963a17f277295f208742cce-124/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a490e2f1a963a17f277295f208742cce-124/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.214 m/s at x-direction and -0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.096 m/s^2 at x-direction and 0.003 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::a490e2f1a963a17f277295f208742cce-124"}},"extra_info":{"index":266,"token":"waymo_e2e::a490e2f1a963a17f277295f208742cce-124","id":"waymo_e2e::a490e2f1a963a17f277295f208742cce-124","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.44,-0.03), (8.83,-0.10), (13.17,-0.18), (17.41,-0.26), (21.51,-0.35), (25.47,-0.43), (29.30,-0.52), (33.03,-0.61), (36.67,-0.73), (40.25,-0.98)]\nOption B\n  waypoints xy: [(3.90,-0.01), (7.84,-0.04), (11.79,-0.07), (15.72,-0.09), (19.62,-0.12), (23.47,-0.13), (27.27,-0.15), (30.98,-0.16), (34.60,-0.18), (38.09,-0.21)]\nOption C\n  waypoints xy: [(6.08,-0.01), (12.20,-0.02), (18.36,-0.04), (24.57,-0.06), (30.84,-0.10), (37.17,-0.14), (43.59,-0.20), (50.08,-0.27), (56.62,-0.34), (63.18,-0.42)]\nOption D\n  waypoints xy: [(1.63,-0.00), (3.25,-0.00), (4.87,-0.01), (6.48,-0.02), (8.10,-0.03), (9.72,-0.04), (11.33,-0.05), (12.91,-0.06), (14.45,-0.08), (15.96,-0.09)]\nOption E\n  waypoints xy: [(1.45,-0.01), (2.74,-0.02), (3.85,-0.03), (4.74,-0.05), (5.39,-0.06), (5.81,-0.06), (6.05,-0.07), (6.16,-0.07), (6.23,-0.07), (6.30,-0.07)]\nOption F\n  waypoints xy: [(7.65,0.08), (14.85,0.08), (21.60,0.08), (28.03,0.08), (34.42,0.08), (40.86,0.01), (47.44,-0.06), (54.19,-0.06), (61.13,-0.14), (68.24,-0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.2137548712772412,"cv_gap":9.499}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/e8b25925011d4dffe7b23758da22a807-123/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/e8b25925011d4dffe7b23758da22a807-123/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/e8b25925011d4dffe7b23758da22a807-123/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.775 m/s at x-direction and -0.025 m/s at y-direction. The ego vehicle's current acceleration is 0.027 m/s^2 at x-direction and 0.397 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::e8b25925011d4dffe7b23758da22a807-123"}},"extra_info":{"index":267,"token":"waymo_e2e::e8b25925011d4dffe7b23758da22a807-123","id":"waymo_e2e::e8b25925011d4dffe7b23758da22a807-123","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.69,-0.03), (3.62,-0.11), (5.83,-0.25), (8.32,-0.45), (11.05,-0.71), (13.98,-1.01), (17.09,-1.35), (20.36,-1.72), (23.77,-2.11), (27.26,-2.52)]\nOption B\n  waypoints xy: [(2.24,0.49), (4.46,1.41), (6.63,2.70), (8.79,4.26), (10.96,6.00), (13.16,7.88), (15.38,9.85), (17.64,11.85), (19.92,13.89), (22.24,15.96)]\nOption C\n  waypoints xy: [(2.40,-0.00), (4.81,-0.01), (7.21,-0.01), (9.60,-0.01), (11.97,-0.02), (14.32,-0.03), (16.65,-0.04), (18.97,-0.05), (21.28,-0.07), (23.58,-0.09)]\nOption D\n  waypoints xy: [(6.08,0.01), (12.40,0.05), (18.93,0.11), (25.63,0.20), (32.50,0.33), (39.52,0.51), (46.65,0.75), (53.88,1.04), (61.16,1.38), (68.50,1.77)]\nOption E\n  waypoints xy: [(6.03,0.00), (12.07,0.01), (18.10,0.01), (24.10,0.02), (30.08,0.02), (35.94,0.01), (41.69,-0.01), (47.37,-0.04), (53.05,-0.07), (58.67,-0.11)]\nOption F\n  waypoints xy: [(3.74,-0.00), (7.28,-0.01), (10.57,-0.01), (13.58,-0.01), (16.32,-0.00), (18.83,0.00), (21.16,0.01), (23.34,0.02), (25.40,0.03), (27.38,0.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.775280233069387,"cv_gap":17.022}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"BJpWBjJHqE","cam_id":"4_resize","sample_timestamps":["000000000696_000600000000","000000000696_000850000000","000000000697_000100000000","000000000697_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000697_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"BJpWBjJHqE","cam_id":"2","sample_timestamps":["000000000695_000900000000","000000000696_000400000000","000000000696_000900000000","000000000697_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000697_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"BJpWBjJHqE","cam_id":"7","sample_timestamps":["000000000695_000900000000","000000000696_000400000000","000000000696_000900000000","000000000697_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000697_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.500 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"BJpWBjJHqE"}},"extra_info":{"index":268,"token":"BJpWBjJHqE","id":"BJpWBjJHqE","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.43,-0.02), (10.72,-0.06), (15.66,-0.11), (20.21,-0.15), (24.36,-0.17), (28.12,-0.18), (31.47,-0.18), (34.38,-0.18), (36.84,-0.19), (38.89,-0.20)]\nOption B\n  waypoints xy: [(4.47,0.00), (8.97,0.01), (13.46,0.02), (17.95,0.04), (22.41,0.08), (26.83,0.12), (31.18,0.17), (35.42,0.21), (39.53,0.25), (43.49,0.30)]\nOption C\n  waypoints xy: [(6.37,-0.00), (12.84,-0.02), (19.40,-0.07), (26.02,-0.12), (32.69,-0.17), (39.37,-0.20), (46.04,-0.19), (52.62,-0.16), (59.07,-0.09), (65.37,0.00)]\nOption D\n  waypoints xy: [(0.71,0.00), (1.46,0.01), (2.26,0.02), (3.11,0.03), (3.96,0.05), (4.80,0.06), (5.60,0.07), (6.38,0.08), (7.15,0.09), (7.90,0.11)]\nOption E\n  waypoints xy: [(0.27,0.00), (0.47,0.00), (0.59,0.00), (0.64,0.00), (0.65,0.00), (0.66,0.00), (0.66,0.00), (0.67,0.00), (0.68,0.01), (0.72,0.01)]\nOption F\n  waypoints xy: [(7.92,-0.02), (15.96,-0.05), (24.11,-0.09), (32.37,-0.13), (40.70,-0.17), (49.10,-0.19), (57.49,-0.21), (65.78,-0.21), (74.02,-0.20), (82.23,-0.19)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.6,"cv_gap":7.163}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"A8GWQ9p6Wk","cam_id":"4_resize","sample_timestamps":["000000002144_000950000000","000000002145_000200000000","000000002145_000450000000","000000002145_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002145_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"A8GWQ9p6Wk","cam_id":"2","sample_timestamps":["000000002144_000200000000","000000002144_000700000000","000000002145_000200000000","000000002145_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002145_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"A8GWQ9p6Wk","cam_id":"7","sample_timestamps":["000000002144_000200000000","000000002144_000700000000","000000002145_000200000000","000000002145_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002145_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"A8GWQ9p6Wk"}},"extra_info":{"index":269,"token":"A8GWQ9p6Wk","id":"A8GWQ9p6Wk","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.99,-0.01), (13.98,-0.02), (20.98,-0.03), (27.99,-0.04), (35.01,-0.06), (42.06,-0.08), (49.13,-0.10), (56.20,-0.14), (63.28,-0.18), (70.34,-0.22)]\nOption B\n  waypoints xy: [(2.20,0.00), (4.26,0.01), (6.14,0.03), (7.76,0.05), (9.10,0.07), (10.15,0.08), (10.95,0.10), (11.49,0.11), (11.80,0.11), (11.98,0.11)]\nOption C\n  waypoints xy: [(6.86,-0.01), (13.59,-0.02), (20.13,-0.02), (26.39,-0.01), (32.31,0.01), (37.86,0.04), (43.02,0.08), (47.78,0.13), (52.16,0.16), (56.11,0.15)]\nOption D\n  waypoints xy: [(2.48,0.01), (4.98,0.03), (7.50,0.06), (10.00,0.10), (12.50,0.13), (14.97,0.17), (17.41,0.20), (19.82,0.23), (22.19,0.26), (24.52,0.28)]\nOption E\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption F\n  waypoints xy: [(5.51,-0.01), (11.27,-0.02), (17.26,-0.02), (23.48,-0.03), (29.92,-0.05), (36.55,-0.09), (43.35,-0.12), (50.26,-0.17), (57.27,-0.22), (64.33,-0.27)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.0,"cv_gap":13.215}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/d5ac206f3229513642b036dab5592317-042/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d5ac206f3229513642b036dab5592317-042/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d5ac206f3229513642b036dab5592317-042/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 3.478 m/s at x-direction and 0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.632 m/s^2 at x-direction and -0.006 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::d5ac206f3229513642b036dab5592317-042"}},"extra_info":{"index":270,"token":"waymo_e2e::d5ac206f3229513642b036dab5592317-042","id":"waymo_e2e::d5ac206f3229513642b036dab5592317-042","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.45,0.00), (10.86,0.02), (16.23,0.04), (21.56,0.07), (26.85,0.11), (32.05,0.14), (37.14,0.16), (42.08,0.19), (46.83,0.21), (51.37,0.23)]\nOption B\n  waypoints xy: [(1.67,-0.00), (3.38,-0.00), (5.13,-0.00), (6.91,-0.01), (8.69,-0.01), (10.48,-0.03), (12.27,-0.05), (14.04,-0.09), (15.80,-0.13), (17.53,-0.19)]\nOption C\n  waypoints xy: [(4.81,-0.05), (9.44,-0.14), (13.84,-0.29), (17.95,-0.45), (21.79,-0.64), (25.32,-0.84), (28.45,-1.05), (31.18,-1.26), (33.50,-1.48), (35.40,-1.75)]\nOption D\n  waypoints xy: [(1.38,-0.00), (2.18,0.00), (2.49,0.00), (2.52,0.00), (2.51,0.00), (2.51,0.00), (2.51,0.00), (2.51,0.00), (2.51,0.00), (2.54,0.00)]\nOption E\n  waypoints xy: [(5.80,-0.02), (11.59,-0.07), (17.35,-0.13), (23.08,-0.22), (28.76,-0.35), (34.36,-0.50), (39.87,-0.70), (45.32,-0.92), (50.71,-1.15), (56.06,-1.38)]\nOption F\n  waypoints xy: [(2.83,-0.16), (6.13,-0.32), (9.89,-0.48), (14.11,-0.60), (18.70,-0.68), (23.57,-0.74), (28.67,-0.81), (33.91,-0.88), (39.28,-0.96), (44.79,-1.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4778011734197665,"cv_gap":14.943}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"uksiUf4n5f","cam_id":"4_resize","sample_timestamps":["000000000579_000000000000","000000000579_000500000000","000000000580_000000000000","000000000580_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000580_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"uksiUf4n5f","cam_id":"2","sample_timestamps":["000000000579_000000000000","000000000579_000500000000","000000000580_000000000000","000000000580_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000580_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"uksiUf4n5f","cam_id":"7","sample_timestamps":["000000000579_000000000000","000000000579_000500000000","000000000580_000000000000","000000000580_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000580_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.300 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.500 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"uksiUf4n5f"}},"extra_info":{"index":271,"token":"uksiUf4n5f","id":"uksiUf4n5f","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.74,-0.02), (15.49,-0.04), (23.24,-0.07), (30.99,-0.09), (38.75,-0.11), (46.52,-0.13), (54.31,-0.14), (62.10,-0.17), (69.89,-0.22), (77.67,-0.29)]\nOption B\n  waypoints xy: [(2.21,0.02), (4.41,0.06), (6.60,0.12), (8.77,0.17), (10.93,0.23), (13.10,0.28), (15.27,0.32), (17.44,0.35), (19.58,0.36), (21.68,0.34)]\nOption C\n  waypoints xy: [(5.20,-0.02), (10.38,-0.07), (15.55,-0.13), (20.72,-0.18), (25.88,-0.24), (31.02,-0.30), (36.13,-0.35), (41.15,-0.39), (46.04,-0.42), (50.80,-0.44)]\nOption D\n  waypoints xy: [(1.68,0.01), (2.97,0.03), (3.86,0.06), (4.41,0.10), (4.68,0.12), (4.77,0.13), (4.77,0.13), (4.77,0.13), (4.79,0.14), (4.99,0.18)]\nOption E\n  waypoints xy: [(5.96,0.01), (11.91,0.03), (17.84,0.08), (23.77,0.14), (29.68,0.22), (35.58,0.31), (41.47,0.42), (47.36,0.56), (53.22,0.73), (59.08,0.92)]\nOption F\n  waypoints xy: [(3.79,-0.11), (7.91,-0.31), (12.34,-0.60), (17.07,-0.98), (22.06,-1.43), (27.29,-1.97), (32.71,-2.55), (38.28,-3.19), (43.98,-3.86), (49.78,-4.52)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.301162633521313,"cv_gap":16.425}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/541eec327aa648ae18e1748ca9e72254-213/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/541eec327aa648ae18e1748ca9e72254-213/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/541eec327aa648ae18e1748ca9e72254-213/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.811 m/s at x-direction and 0.013 m/s at y-direction. The ego vehicle's current acceleration is 0.097 m/s^2 at x-direction and -0.034 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::541eec327aa648ae18e1748ca9e72254-213"}},"extra_info":{"index":272,"token":"waymo_e2e::541eec327aa648ae18e1748ca9e72254-213","id":"waymo_e2e::541eec327aa648ae18e1748ca9e72254-213","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.87,-0.06), (17.75,-0.24), (26.66,-0.52), (35.60,-0.93), (44.56,-1.46), (53.57,-2.10), (62.61,-2.86), (71.67,-3.72), (80.75,-4.66), (89.84,-5.67)]\nOption B\n  waypoints xy: [(2.02,-0.00), (3.78,0.00), (5.28,0.01), (6.47,0.02), (7.35,0.02), (7.94,0.03), (8.26,0.03), (8.41,0.03), (8.47,0.03), (8.52,0.03)]\nOption C\n  waypoints xy: [(7.56,0.03), (15.17,0.10), (22.81,0.18), (30.47,0.27), (38.15,0.39), (45.82,0.52), (53.48,0.67), (61.14,0.84), (68.78,1.04), (76.37,1.22)]\nOption D\n  waypoints xy: [(9.97,-0.03), (19.94,-0.05), (29.90,-0.07), (39.86,-0.11), (49.82,-0.13), (59.77,-0.16), (69.73,-0.18), (79.67,-0.22), (89.60,-0.24), (99.51,-0.27)]\nOption E\n  waypoints xy: [(5.32,0.00), (10.61,0.01), (15.86,0.03), (21.09,0.04), (26.28,0.06), (31.45,0.07), (36.58,0.10), (41.66,0.12), (46.71,0.14), (51.74,0.16)]\nOption F\n  waypoints xy: [(1.82,-0.01), (3.69,-0.02), (5.61,-0.03), (7.58,-0.05), (9.56,-0.08), (11.53,-0.10), (13.46,-0.13), (15.35,-0.17), (17.20,-0.21), (19.00,-0.26)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.8106419000121803,"cv_gap":9.682}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/71ae55d1b2d74c5d27e8279c34f7504e-209/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/71ae55d1b2d74c5d27e8279c34f7504e-209/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/71ae55d1b2d74c5d27e8279c34f7504e-209/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.095 m/s at x-direction and -0.023 m/s at y-direction. The ego vehicle's current acceleration is -0.383 m/s^2 at x-direction and -0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::71ae55d1b2d74c5d27e8279c34f7504e-209"}},"extra_info":{"index":273,"token":"waymo_e2e::71ae55d1b2d74c5d27e8279c34f7504e-209","id":"waymo_e2e::71ae55d1b2d74c5d27e8279c34f7504e-209","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.54,-0.01), (2.78,-0.03), (3.72,-0.04), (4.40,-0.04), (4.88,-0.04), (5.25,-0.03), (5.63,-0.03), (6.14,-0.01), (6.83,0.01), (7.68,0.03)]\nOption B\n  waypoints xy: [(1.54,-0.00), (3.09,-0.01), (4.64,-0.01), (6.18,-0.02), (7.73,-0.03), (9.25,-0.04), (10.79,-0.05), (12.38,-0.05), (14.04,-0.04), (15.75,-0.03)]\nOption C\n  waypoints xy: [(9.34,0.00), (18.73,0.10), (28.19,0.10), (37.69,0.21), (47.24,0.31), (56.85,0.31), (66.50,0.42), (76.18,0.42), (85.83,0.53), (95.43,0.53)]\nOption D\n  waypoints xy: [(6.10,-0.01), (12.28,-0.02), (18.52,-0.04), (24.83,-0.07), (31.20,-0.10), (37.62,-0.14), (44.06,-0.18), (50.50,-0.21), (56.88,-0.25), (63.18,-0.28)]\nOption E\n  waypoints xy: [(3.97,0.04), (8.00,0.14), (12.08,0.32), (16.21,0.59), (20.37,0.93), (24.54,1.32), (28.71,1.76), (32.87,2.23), (37.00,2.72), (41.11,3.22)]\nOption F\n  waypoints xy: [(3.93,-0.02), (7.91,-0.05), (11.89,-0.10), (15.85,-0.17), (19.70,-0.26), (23.45,-0.37), (27.10,-0.51), (30.66,-0.69), (34.15,-0.91), (37.48,-1.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.0947873744154104,"cv_gap":7.905}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/014d03dc9441ee1e2a5d06f9c187792b-148/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/014d03dc9441ee1e2a5d06f9c187792b-148/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/014d03dc9441ee1e2a5d06f9c187792b-148/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 3.979 m/s at x-direction and 0.022 m/s at y-direction. The ego vehicle's current acceleration is 0.058 m/s^2 at x-direction and -0.552 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::014d03dc9441ee1e2a5d06f9c187792b-148"}},"extra_info":{"index":274,"token":"waymo_e2e::014d03dc9441ee1e2a5d06f9c187792b-148","id":"waymo_e2e::014d03dc9441ee1e2a5d06f9c187792b-148","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.72,0.00), (9.58,0.01), (14.56,0.01), (19.64,0.03), (24.80,0.08), (30.00,0.18), (35.24,0.31), (40.48,0.51), (45.73,0.77), (50.97,1.08)]\nOption B\n  waypoints xy: [(4.37,-0.02), (8.83,-0.04), (13.36,-0.08), (17.94,-0.13), (22.54,-0.19), (27.17,-0.25), (31.81,-0.33), (36.44,-0.42), (41.06,-0.51), (45.63,-0.60)]\nOption C\n  waypoints xy: [(1.31,-0.11), (2.59,-0.35), (3.81,-0.69), (4.93,-1.11), (5.93,-1.58), (6.78,-2.04), (7.48,-2.49), (8.05,-2.90), (8.53,-3.29), (8.96,-3.69)]\nOption D\n  waypoints xy: [(5.84,0.03), (11.68,0.12), (17.55,0.26), (23.42,0.40), (29.29,0.55), (35.18,0.66), (41.02,0.74), (46.73,0.84), (52.21,0.97), (57.41,1.17)]\nOption E\n  waypoints xy: [(6.20,-0.02), (12.45,-0.06), (18.72,-0.12), (25.01,-0.21), (31.33,-0.35), (37.68,-0.53), (44.05,-0.75), (50.43,-0.99), (56.80,-1.22), (63.16,-1.43)]\nOption F\n  waypoints xy: [(1.94,0.00), (3.89,0.01), (5.87,0.02), (7.87,0.04), (9.87,0.04), (11.89,0.05), (13.92,0.05), (16.00,0.05), (18.11,0.04), (20.24,0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.978919499597605,"cv_gap":12.725}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"FHHQXbUmOk","cam_id":"4_resize","sample_timestamps":["000000007196_000300000000","000000007196_000800000000","000000007197_000300000000","000000007197_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007197_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"FHHQXbUmOk","cam_id":"2","sample_timestamps":["000000007196_000300000000","000000007196_000800000000","000000007197_000300000000","000000007197_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007197_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"FHHQXbUmOk","cam_id":"7","sample_timestamps":["000000007196_000300000000","000000007196_000800000000","000000007197_000300000000","000000007197_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007197_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.300 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"FHHQXbUmOk"}},"extra_info":{"index":275,"token":"FHHQXbUmOk","id":"FHHQXbUmOk","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.55,0.02), (9.16,0.06), (13.83,0.12), (18.55,0.19), (23.31,0.26), (28.12,0.32), (32.94,0.38), (37.78,0.42), (42.63,0.46), (47.48,0.48)]\nOption B\n  waypoints xy: [(6.43,-0.04), (12.85,-0.13), (19.25,-0.18), (25.64,-0.09), (32.00,0.20), (38.34,0.73), (44.56,1.54), (50.63,2.63), (56.45,3.98), (61.96,5.54)]\nOption C\n  waypoints xy: [(4.58,-0.05), (9.33,-0.13), (14.10,-0.17), (18.84,-0.18), (23.49,-0.19), (27.94,-0.21), (32.19,-0.23), (36.15,-0.28), (39.75,-0.34), (43.04,-0.41)]\nOption D\n  waypoints xy: [(2.58,-0.01), (4.87,-0.04), (6.82,-0.06), (8.38,-0.08), (9.52,-0.10), (10.27,-0.12), (10.66,-0.12), (10.80,-0.12), (10.86,-0.12), (10.93,-0.13)]\nOption E\n  waypoints xy: [(9.58,0.00), (19.09,0.02), (28.50,0.07), (37.80,0.13), (47.00,0.19), (56.09,0.24), (65.06,0.30), (73.89,0.34), (82.59,0.37), (91.17,0.39)]\nOption F\n  waypoints xy: [(3.20,-0.01), (6.39,-0.02), (9.55,-0.04), (12.67,-0.06), (15.77,-0.08), (18.87,-0.10), (21.96,-0.12), (25.06,-0.14), (28.17,-0.17), (31.30,-0.21)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.3,"cv_gap":20.509}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/1e92a0d8ed3c16d6f18b2ae168804ea2-127/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1e92a0d8ed3c16d6f18b2ae168804ea2-127/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1e92a0d8ed3c16d6f18b2ae168804ea2-127/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.112 m/s at x-direction and -0.056 m/s at y-direction. The ego vehicle's current acceleration is -0.015 m/s^2 at x-direction and 0.594 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::1e92a0d8ed3c16d6f18b2ae168804ea2-127"}},"extra_info":{"index":276,"token":"waymo_e2e::1e92a0d8ed3c16d6f18b2ae168804ea2-127","id":"waymo_e2e::1e92a0d8ed3c16d6f18b2ae168804ea2-127","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00)]\nOption B\n  waypoints xy: [(2.59,0.00), (5.37,-0.00), (8.33,-0.00), (11.43,-0.01), (14.67,-0.01), (18.00,-0.01), (21.40,-0.02), (24.83,-0.04), (28.26,-0.08), (31.68,-0.13)]\nOption C\n  waypoints xy: [(2.61,-0.01), (5.20,-0.03), (7.76,-0.06), (10.30,-0.09), (12.83,-0.12), (15.35,-0.15), (17.88,-0.19), (20.44,-0.22), (23.03,-0.27), (25.65,-0.31)]\nOption D\n  waypoints xy: [(4.79,-0.01), (9.56,-0.06), (14.33,-0.16), (18.93,-0.30), (23.30,-0.47), (27.51,-0.68), (31.69,-0.89), (35.84,-1.13), (40.00,-1.39), (44.17,-1.67)]\nOption E\n  waypoints xy: [(2.16,0.57), (4.31,1.69), (6.36,3.37), (8.34,5.51), (10.30,8.02), (12.29,10.84), (14.32,13.89), (16.41,17.13), (18.56,20.48), (20.79,23.92)]\nOption F\n  waypoints xy: [(2.73,0.03), (5.60,0.07), (8.60,0.14), (11.70,0.23), (14.90,0.33), (18.17,0.45), (21.49,0.56), (24.86,0.66), (28.26,0.75), (31.69,0.81)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.112203541973024,"cv_gap":23.332}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"XND2Gb7VaY","cam_id":"4_resize","sample_timestamps":["000000016363_000300000000","000000016363_000800000000","000000016364_000300000000","000000016364_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000016364_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XND2Gb7VaY","cam_id":"2","sample_timestamps":["000000016363_000300000000","000000016363_000800000000","000000016364_000300000000","000000016364_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000016364_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XND2Gb7VaY","cam_id":"7","sample_timestamps":["000000016363_000300000000","000000016363_000800000000","000000016364_000300000000","000000016364_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000016364_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"XND2Gb7VaY"}},"extra_info":{"index":277,"token":"XND2Gb7VaY","id":"XND2Gb7VaY","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.96,0.03), (15.92,0.11), (23.87,0.22), (31.81,0.32), (39.75,0.41), (47.68,0.51), (55.60,0.60), (63.52,0.68), (71.43,0.73), (79.34,0.76)]\nOption B\n  waypoints xy: [(3.05,-0.00), (5.76,-0.00), (8.09,0.00), (9.98,0.00), (11.41,0.01), (12.42,0.01), (13.02,0.00), (13.29,0.00), (13.37,0.00), (13.43,0.00)]\nOption C\n  waypoints xy: [(3.41,-0.01), (6.82,-0.01), (10.22,-0.00), (13.62,0.01), (17.06,0.03), (20.53,0.05), (24.04,0.05), (27.59,0.04), (31.16,0.03), (34.71,0.01)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(7.60,-0.04), (15.17,-0.12), (22.70,-0.24), (30.18,-0.39), (37.61,-0.58), (44.98,-0.77), (52.27,-0.97), (59.48,-1.15), (66.59,-1.32), (73.59,-1.48)]\nOption F\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.9,"cv_gap":21.072}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0b860fa8c13bc787e68cc44765b8064b-124/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0b860fa8c13bc787e68cc44765b8064b-124/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0b860fa8c13bc787e68cc44765b8064b-124/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.826 m/s at x-direction and -0.082 m/s at y-direction. The ego vehicle's current acceleration is -0.459 m/s^2 at x-direction and 0.283 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0b860fa8c13bc787e68cc44765b8064b-124"}},"extra_info":{"index":278,"token":"waymo_e2e::0b860fa8c13bc787e68cc44765b8064b-124","id":"waymo_e2e::0b860fa8c13bc787e68cc44765b8064b-124","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.82,-0.01), (13.65,-0.03), (20.51,-0.05), (27.38,-0.08), (34.27,-0.12), (41.18,-0.15), (48.11,-0.17), (55.06,-0.20), (62.02,-0.23), (68.97,-0.26)]\nOption B\n  waypoints xy: [(4.83,-0.02), (9.72,-0.05), (14.65,-0.09), (19.61,-0.15), (24.60,-0.21), (29.57,-0.28), (34.51,-0.34), (39.38,-0.41), (44.15,-0.49), (48.82,-0.58)]\nOption C\n  waypoints xy: [(1.37,-0.34), (2.73,-1.01), (4.03,-2.03), (5.23,-3.41), (6.34,-5.12), (7.41,-7.11), (8.47,-9.34), (9.56,-11.77), (10.67,-14.37), (11.82,-17.08)]\nOption D\n  waypoints xy: [(4.51,-0.00), (8.63,-0.01), (12.25,-0.03), (15.28,-0.04), (17.63,-0.06), (19.27,-0.07), (20.19,-0.08), (20.58,-0.09), (20.70,-0.09), (20.75,-0.09)]\nOption E\n  waypoints xy: [(0.53,0.02), (1.36,0.11), (2.58,0.34), (4.18,0.89), (6.06,1.91), (8.02,3.54), (9.84,5.81), (11.39,8.69), (12.61,12.04), (13.48,15.78)]\nOption F\n  waypoints xy: [(6.88,0.04), (13.81,0.13), (20.79,0.28), (27.83,0.49), (34.93,0.73), (42.10,1.00), (49.32,1.25), (56.60,1.51), (63.91,1.76), (71.24,2.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.826548220931883,"cv_gap":27.853}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"thrRzWZ4uw","cam_id":"4_resize","sample_timestamps":["000000001715_000700000000","000000001716_000200000000","000000001716_000700000000","000000001717_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001717_000250000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"thrRzWZ4uw","cam_id":"2","sample_timestamps":["000000001715_000700000000","000000001716_000200000000","000000001716_000700000000","000000001717_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001717_000250000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"thrRzWZ4uw","cam_id":"7","sample_timestamps":["000000001715_000700000000","000000001716_000200000000","000000001716_000700000000","000000001717_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001717_000250000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"thrRzWZ4uw"}},"extra_info":{"index":279,"token":"thrRzWZ4uw","id":"thrRzWZ4uw","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption B\n  waypoints xy: [(6.75,-0.05), (13.53,-0.17), (20.33,-0.35), (27.13,-0.56), (33.92,-0.77), (40.69,-0.96), (47.45,-1.12), (54.22,-1.25), (61.01,-1.34), (67.80,-1.42)]\nOption C\n  waypoints xy: [(6.97,-0.05), (13.93,-0.18), (20.89,-0.38), (27.86,-0.66), (34.84,-1.00), (41.84,-1.40), (48.86,-1.86), (55.89,-2.36), (62.93,-2.89), (69.96,-3.43)]\nOption D\n  waypoints xy: [(2.25,0.00), (4.54,0.01), (6.85,0.02), (9.20,0.03), (11.57,0.04), (13.98,0.04), (16.41,0.05), (18.83,0.05), (21.18,0.06), (23.50,0.06)]\nOption E\n  waypoints xy: [(1.75,0.00), (3.16,0.00), (4.28,0.00), (5.08,0.00), (5.52,0.00), (5.76,0.00), (5.83,0.00), (5.96,0.00), (6.04,0.00), (6.19,0.00)]\nOption F\n  waypoints xy: [(4.26,-0.01), (8.55,-0.02), (12.86,-0.02), (17.21,-0.02), (21.61,-0.02), (26.08,-0.00), (30.61,0.03), (35.20,0.10), (39.84,0.20), (44.53,0.34)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.7,"cv_gap":17.508}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3c7bc646ab9da9db9219330d23d8ba9f-052/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3c7bc646ab9da9db9219330d23d8ba9f-052/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3c7bc646ab9da9db9219330d23d8ba9f-052/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.968 m/s at x-direction and -0.022 m/s at y-direction. The ego vehicle's current acceleration is -0.420 m/s^2 at x-direction and -0.037 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3c7bc646ab9da9db9219330d23d8ba9f-052"}},"extra_info":{"index":280,"token":"waymo_e2e::3c7bc646ab9da9db9219330d23d8ba9f-052","id":"waymo_e2e::3c7bc646ab9da9db9219330d23d8ba9f-052","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.83,-0.04), (15.67,-0.12), (23.51,-0.25), (31.34,-0.41), (39.15,-0.59), (46.97,-0.80), (54.78,-0.99), (62.58,-1.18), (70.37,-1.36), (78.14,-1.54)]\nOption B\n  waypoints xy: [(5.22,-0.32), (10.64,-1.06), (16.25,-2.22), (22.02,-3.74), (27.90,-5.56), (33.80,-7.63), (39.62,-9.86), (45.34,-12.20), (50.96,-14.58), (56.47,-16.98)]\nOption C\n  waypoints xy: [(9.11,-0.21), (18.23,-0.32), (27.36,-0.43), (36.50,-0.64), (45.65,-0.95), (54.81,-1.16), (63.97,-1.58), (73.14,-2.00), (82.31,-2.42), (91.49,-2.94)]\nOption D\n  waypoints xy: [(2.69,-0.01), (5.06,-0.01), (7.06,-0.01), (8.57,-0.02), (9.56,-0.02), (10.04,-0.03), (10.18,-0.03), (10.18,-0.03), (10.22,-0.03), (10.45,-0.03)]\nOption E\n  waypoints xy: [(2.99,-0.01), (5.99,-0.02), (9.00,-0.03), (12.03,-0.05), (15.04,-0.07), (18.01,-0.09), (20.97,-0.12), (23.93,-0.16), (26.88,-0.20), (29.80,-0.23)]\nOption F\n  waypoints xy: [(5.30,0.30), (10.41,0.79), (15.41,1.50), (20.31,2.51), (25.14,3.84), (29.91,5.52), (34.39,7.37), (38.45,9.28), (42.12,11.31), (45.50,13.54)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.967807569814696,"cv_gap":19.81}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/4259b098211c82350826ffa4ef42dba8-156/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/4259b098211c82350826ffa4ef42dba8-156/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/4259b098211c82350826ffa4ef42dba8-156/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.834 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.452 m/s^2 at x-direction and -0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::4259b098211c82350826ffa4ef42dba8-156"}},"extra_info":{"index":281,"token":"waymo_e2e::4259b098211c82350826ffa4ef42dba8-156","id":"waymo_e2e::4259b098211c82350826ffa4ef42dba8-156","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.56,-0.39), (3.07,-1.11), (4.46,-2.15), (5.70,-3.45), (6.78,-4.94), (7.74,-6.53), (8.66,-8.18), (9.56,-9.91), (10.49,-11.70), (11.45,-13.54)]\nOption B\n  waypoints xy: [(4.88,-0.00), (9.79,-0.01), (14.72,-0.01), (19.67,0.00), (24.62,0.01), (29.57,0.02), (34.53,0.03), (39.46,0.02), (44.37,0.03), (49.24,0.03)]\nOption C\n  waypoints xy: [(7.92,-0.00), (15.80,-0.02), (23.65,-0.06), (31.46,-0.12), (39.24,-0.18), (47.00,-0.23), (54.75,-0.26), (62.49,-0.28), (70.22,-0.29), (77.97,-0.29)]\nOption D\n  waypoints xy: [(3.99,-0.04), (7.50,-0.09), (10.56,-0.14), (13.11,-0.19), (15.09,-0.21), (16.47,-0.23), (17.31,-0.24), (17.70,-0.25), (17.83,-0.25), (17.84,-0.25)]\nOption E\n  waypoints xy: [(1.37,-0.34), (2.67,-0.99), (3.84,-1.93), (4.87,-3.17), (5.73,-4.66), (6.48,-6.39), (7.17,-8.33), (7.85,-10.48), (8.54,-12.82), (9.27,-15.33)]\nOption F\n  waypoints xy: [(8.24,-0.00), (16.45,-0.00), (24.65,-0.00), (32.81,-0.01), (40.95,-0.01), (49.07,-0.09), (57.14,-0.18), (65.17,-0.27), (73.20,-0.35), (81.22,-0.43)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.834430063527748,"cv_gap":31.995}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-094/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-094/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-094/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 8.784 m/s at x-direction and 0.001 m/s at y-direction. The ego vehicle's current acceleration is -0.841 m/s^2 at x-direction and -0.049 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-094"}},"extra_info":{"index":282,"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-094","id":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-094","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.34,0.00), (8.69,0.01), (13.05,0.01), (17.43,0.00), (21.83,-0.01), (26.25,-0.03), (30.69,-0.05), (35.12,-0.08), (39.55,-0.10), (43.93,-0.11)]\nOption B\n  waypoints xy: [(5.01,-0.00), (10.30,-0.01), (15.83,-0.01), (21.57,-0.03), (27.51,-0.04), (33.59,-0.05), (39.79,-0.08), (46.03,-0.12), (52.30,-0.17), (58.58,-0.21)]\nOption C\n  waypoints xy: [(7.81,-0.00), (15.64,0.01), (23.50,0.03), (31.37,0.06), (39.25,0.12), (47.14,0.18), (55.02,0.26), (62.88,0.33), (70.71,0.41), (78.52,0.48)]\nOption D\n  waypoints xy: [(3.44,-0.01), (6.35,-0.03), (8.62,-0.05), (10.15,-0.08), (10.96,-0.09), (11.23,-0.09), (11.26,-0.10), (11.28,-0.10), (11.35,-0.10), (11.58,-0.10)]\nOption E\n  waypoints xy: [(1.27,-0.26), (2.38,-0.83), (3.26,-1.67), (3.87,-2.72), (4.17,-3.89), (4.15,-5.11), (3.85,-6.33), (3.27,-7.53), (2.46,-8.74), (1.43,-9.95)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.783792537977298,"cv_gap":33.234}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/61b71919fef7978a8b3ccc77688572ca-181/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/61b71919fef7978a8b3ccc77688572ca-181/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/61b71919fef7978a8b3ccc77688572ca-181/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 4.108 m/s at x-direction and 0.089 m/s at y-direction. The ego vehicle's current acceleration is 0.417 m/s^2 at x-direction and -0.522 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::61b71919fef7978a8b3ccc77688572ca-181"}},"extra_info":{"index":283,"token":"waymo_e2e::61b71919fef7978a8b3ccc77688572ca-181","id":"waymo_e2e::61b71919fef7978a8b3ccc77688572ca-181","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.13,0.01), (10.33,0.02), (15.58,0.04), (20.90,0.06), (26.25,0.10), (31.62,0.11), (37.01,0.05), (42.41,-0.12), (47.78,-0.39), (53.12,-0.70)]\nOption B\n  waypoints xy: [(4.10,0.02), (8.22,0.08), (12.34,0.17), (16.43,0.30), (20.48,0.48), (24.51,0.73), (28.50,1.04), (32.44,1.42), (36.37,1.76), (40.28,2.01)]\nOption C\n  waypoints xy: [(2.12,0.02), (4.22,0.05), (6.30,0.09), (8.34,0.14), (10.34,0.20), (12.34,0.27), (14.35,0.34), (16.39,0.41), (18.43,0.49), (20.48,0.57)]\nOption D\n  waypoints xy: [(3.90,-0.00), (7.88,-0.01), (11.93,-0.02), (16.02,-0.04), (20.15,-0.06), (24.29,-0.08), (28.41,-0.11), (32.46,-0.14), (36.42,-0.18), (40.31,-0.22)]\nOption E\n  waypoints xy: [(2.01,-0.74), (4.14,-2.22), (6.41,-4.40), (8.99,-7.13), (11.93,-10.28), (15.10,-13.72), (18.39,-17.35), (21.75,-21.06), (25.11,-24.79), (28.49,-28.53)]\nOption F\n  waypoints xy: [(0.50,0.03), (1.00,0.13), (1.48,0.28), (1.97,0.51), (2.45,0.83), (2.91,1.22), (3.34,1.69), (3.75,2.26), (4.13,2.91), (4.49,3.64)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.108884731553217,"cv_gap":31.575}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/866502c0b822f7848cbd9bfc5830d723-086/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/866502c0b822f7848cbd9bfc5830d723-086/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/866502c0b822f7848cbd9bfc5830d723-086/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.761 m/s at x-direction and 0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.063 m/s^2 at x-direction and 0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::866502c0b822f7848cbd9bfc5830d723-086"}},"extra_info":{"index":284,"token":"waymo_e2e::866502c0b822f7848cbd9bfc5830d723-086","id":"waymo_e2e::866502c0b822f7848cbd9bfc5830d723-086","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.15,0.57), (6.44,1.75), (9.79,3.51), (13.27,5.65), (16.90,8.05), (20.66,10.67), (24.54,13.45), (28.55,16.33), (32.66,19.32), (36.84,22.41)]\nOption B\n  waypoints xy: [(4.47,0.00), (8.97,0.01), (13.46,0.02), (17.95,0.04), (22.41,0.08), (26.83,0.12), (31.18,0.17), (35.42,0.21), (39.53,0.25), (43.49,0.30)]\nOption C\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption D\n  waypoints xy: [(2.05,-0.00), (3.65,-0.01), (4.78,-0.01), (5.44,-0.01), (5.69,-0.01), (5.72,-0.01), (5.72,-0.01), (5.72,-0.01), (5.72,-0.01), (5.78,-0.01)]\nOption E\n  waypoints xy: [(1.94,-0.00), (3.87,-0.01), (5.78,-0.02), (7.67,-0.03), (9.52,-0.04), (11.34,-0.04), (13.14,-0.04), (14.90,-0.04), (16.63,-0.03), (18.32,-0.02)]\nOption F\n  waypoints xy: [(4.10,0.18), (8.17,0.66), (12.15,1.45), (16.02,2.45), (19.80,3.53), (23.44,4.66), (26.93,5.78), (30.28,6.86), (33.49,7.90), (36.55,8.88)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.760541061562687,"cv_gap":13.105}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"OqXTSoxO4y","cam_id":"4_resize","sample_timestamps":["000000000510_000400000000","000000000510_000900000000","000000000511_000400000000","000000000511_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000511_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OqXTSoxO4y","cam_id":"2","sample_timestamps":["000000000510_000400000000","000000000510_000900000000","000000000511_000400000000","000000000511_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000511_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OqXTSoxO4y","cam_id":"7","sample_timestamps":["000000000510_000400000000","000000000510_000900000000","000000000511_000400000000","000000000511_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000511_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with a constant speed**. The ego vehicle's current velocity is 2.400 m/s at x-direction and 0.300 m/s at y-direction. The ego vehicle's current acceleration is 0.200 m/s^2 at x-direction and -0.600 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"OqXTSoxO4y"}},"extra_info":{"index":285,"token":"OqXTSoxO4y","id":"OqXTSoxO4y","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.04,0.01), (10.01,0.06), (14.87,0.14), (19.58,0.25), (24.11,0.37), (28.39,0.51), (32.39,0.65), (36.10,0.77), (39.52,0.89), (42.68,0.99)]\nOption B\n  waypoints xy: [(4.40,-0.03), (8.77,-0.11), (13.09,-0.26), (17.33,-0.45), (21.50,-0.69), (25.60,-0.96), (29.62,-1.27), (33.56,-1.58), (37.44,-1.89), (41.25,-2.19)]\nOption C\n  waypoints xy: [(1.16,0.04), (2.36,0.15), (3.59,0.32), (4.83,0.53), (6.06,0.76), (7.30,1.01), (8.54,1.27), (9.79,1.52), (11.04,1.78), (12.29,2.05)]\nOption D\n  waypoints xy: [(9.56,-0.05), (19.14,-0.18), (28.75,-0.41), (38.41,-0.72), (48.13,-1.11), (57.90,-1.56), (67.71,-2.06), (77.52,-2.59), (87.33,-3.13), (97.16,-3.69)]\nOption E\n  waypoints xy: [(6.78,0.04), (13.62,0.15), (20.50,0.31), (27.42,0.47), (34.37,0.63), (41.35,0.77), (48.36,0.91), (55.37,1.06), (62.36,1.23), (69.40,1.39)]\nOption F\n  waypoints xy: [(1.15,-0.09), (2.29,-0.33), (3.38,-0.69), (4.40,-1.17), (5.33,-1.74), (6.18,-2.42), (6.92,-3.17), (7.53,-3.97), (8.03,-4.78), (8.43,-5.60)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.4186773244895647,"cv_gap":8.326}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/b3bf57a4be30501736cc86829a8d3bfd-034/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b3bf57a4be30501736cc86829a8d3bfd-034/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b3bf57a4be30501736cc86829a8d3bfd-034/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.445 m/s at x-direction and 0.005 m/s at y-direction. The ego vehicle's current acceleration is -0.335 m/s^2 at x-direction and -0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b3bf57a4be30501736cc86829a8d3bfd-034"}},"extra_info":{"index":286,"token":"waymo_e2e::b3bf57a4be30501736cc86829a8d3bfd-034","id":"waymo_e2e::b3bf57a4be30501736cc86829a8d3bfd-034","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.28,-0.06), (12.33,-0.16), (17.94,-0.19), (23.09,0.02), (27.75,0.48), (31.89,1.06), (35.44,1.56), (38.39,1.95), (40.69,2.18), (42.35,2.31)]\nOption B\n  waypoints xy: [(4.98,0.00), (9.88,0.02), (14.73,0.05), (19.54,0.08), (24.29,0.11), (28.95,0.13), (33.59,0.14), (38.28,0.17), (43.06,0.23), (47.96,0.32)]\nOption C\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\nOption D\n  waypoints xy: [(2.10,-0.01), (3.81,-0.01), (5.24,-0.02), (6.45,-0.03), (7.42,-0.04), (8.12,-0.05), (8.59,-0.05), (8.90,-0.06), (9.10,-0.06), (9.26,-0.06)]\nOption E\n  waypoints xy: [(5.08,0.00), (10.18,0.01), (15.30,0.01), (20.43,0.03), (25.59,0.04), (30.77,0.06), (35.96,0.08), (41.18,0.10), (46.41,0.12), (51.64,0.15)]\nOption F\n  waypoints xy: [(7.80,-0.01), (15.83,-0.06), (24.11,-0.16), (32.62,-0.29), (41.35,-0.41), (50.26,-0.51), (59.29,-0.59), (68.39,-0.62), (77.55,-0.64), (86.75,-0.65)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.445409827146028,"cv_gap":17.439}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/b7f27692a540399e77c98c7034b68056-177/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b7f27692a540399e77c98c7034b68056-177/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b7f27692a540399e77c98c7034b68056-177/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.742 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.318 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b7f27692a540399e77c98c7034b68056-177"}},"extra_info":{"index":287,"token":"waymo_e2e::b7f27692a540399e77c98c7034b68056-177","id":"waymo_e2e::b7f27692a540399e77c98c7034b68056-177","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.94,-0.00), (3.87,-0.01), (5.78,-0.02), (7.67,-0.03), (9.52,-0.04), (11.34,-0.04), (13.14,-0.04), (14.90,-0.04), (16.63,-0.03), (18.32,-0.02)]\nOption B\n  waypoints xy: [(5.03,-0.02), (10.07,-0.06), (15.10,-0.13), (20.10,-0.20), (25.02,-0.28), (29.85,-0.36), (34.57,-0.45), (39.17,-0.56), (43.64,-0.71), (47.99,-0.91)]\nOption C\n  waypoints xy: [(1.73,0.00), (3.25,0.01), (4.55,0.02), (5.62,0.02), (6.46,0.03), (7.07,0.03), (7.48,0.03), (7.72,0.03), (7.89,0.04), (8.03,0.04)]\nOption D\n  waypoints xy: [(6.87,-0.01), (13.70,-0.01), (20.47,-0.01), (27.16,-0.02), (33.75,-0.04), (40.24,-0.05), (46.62,-0.06), (52.87,-0.06), (58.99,-0.07), (64.98,-0.07)]\nOption E\n  waypoints xy: [(4.29,0.00), (8.71,-0.05), (13.31,-0.10), (17.96,-0.15), (22.59,-0.20), (27.25,-0.14), (31.98,-0.04), (36.83,0.08), (41.81,0.25), (46.84,0.47)]\nOption F\n  waypoints xy: [(4.60,0.00), (9.09,0.01), (13.43,0.03), (17.62,0.05), (21.62,0.08), (25.46,0.13), (29.21,0.19), (32.88,0.28), (36.50,0.39), (40.09,0.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.742140115133301,"cv_gap":10.523}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"QzHjwAR3PC","cam_id":"4_resize","sample_timestamps":["000000004254_000400000000","000000004254_000900000000","000000004255_000400000000","000000004255_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004255_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QzHjwAR3PC","cam_id":"2","sample_timestamps":["000000004254_000400000000","000000004254_000900000000","000000004255_000400000000","000000004255_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004255_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QzHjwAR3PC","cam_id":"7","sample_timestamps":["000000004254_000400000000","000000004254_000900000000","000000004255_000400000000","000000004255_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004255_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.800 m/s at x-direction and -0.200 m/s at y-direction. The ego vehicle's current acceleration is 1.400 m/s^2 at x-direction and 0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"QzHjwAR3PC"}},"extra_info":{"index":288,"token":"QzHjwAR3PC","id":"QzHjwAR3PC","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.92,-0.01), (15.88,-0.02), (23.87,-0.03), (31.88,-0.04), (39.92,-0.04), (47.98,-0.01), (56.04,0.04), (64.11,0.10), (72.18,0.17), (80.23,0.24)]\nOption B\n  waypoints xy: [(3.40,-0.02), (6.80,-0.06), (10.20,-0.12), (13.60,-0.19), (17.01,-0.26), (20.42,-0.32), (23.83,-0.38), (27.24,-0.45), (30.65,-0.52), (34.07,-0.60)]\nOption C\n  waypoints xy: [(1.75,0.16), (3.51,0.57), (5.21,1.32), (6.75,2.45), (8.03,3.96), (8.99,5.79), (9.60,7.88), (9.91,10.15), (9.99,12.55), (9.94,15.05)]\nOption D\n  waypoints xy: [(5.45,0.00), (10.87,0.02), (16.27,0.04), (21.62,0.08), (26.91,0.12), (32.13,0.15), (37.25,0.17), (42.22,0.18), (46.95,0.17), (51.41,0.16)]\nOption E\n  waypoints xy: [(3.37,-0.00), (6.48,-0.00), (9.32,0.00), (11.82,0.00), (13.93,0.01), (15.59,0.01), (16.79,0.01), (17.54,0.01), (17.91,0.01), (18.06,0.01)]\nOption F\n  waypoints xy: [(0.79,-0.05), (1.86,-0.20), (3.18,-0.51), (4.68,-1.11), (6.22,-2.15), (7.62,-3.70), (8.74,-5.77), (9.53,-8.30), (10.08,-11.26), (10.52,-14.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.802940540677979,"cv_gap":15.488}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-188/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-188/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-188/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 6.962 m/s at x-direction and -0.202 m/s at y-direction. The ego vehicle's current acceleration is 0.399 m/s^2 at x-direction and 0.942 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-188"}},"extra_info":{"index":289,"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-188","id":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-188","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.48,0.66), (5.01,2.13), (7.31,4.47), (9.24,7.57), (10.77,11.33), (11.93,15.64), (12.92,20.40), (13.84,25.54), (14.76,30.98), (15.71,36.67)]\nOption B\n  waypoints xy: [(0.07,-0.00), (0.10,-0.00), (0.11,-0.00), (0.12,-0.00), (0.13,-0.00), (0.14,-0.00), (0.16,-0.00), (0.18,-0.00), (0.21,-0.00), (0.28,-0.00)]\nOption C\n  waypoints xy: [(4.08,-0.03), (8.25,-0.09), (12.47,-0.16), (16.71,-0.24), (20.90,-0.32), (24.98,-0.39), (28.93,-0.46), (32.74,-0.53), (36.40,-0.61), (39.89,-0.69)]\nOption D\n  waypoints xy: [(3.35,-0.03), (6.76,-0.11), (10.20,-0.21), (13.67,-0.33), (17.17,-0.45), (20.69,-0.56), (24.21,-0.65), (27.74,-0.74), (31.25,-0.82), (34.76,-0.91)]\nOption E\n  waypoints xy: [(3.61,0.07), (7.34,0.24), (11.16,0.47), (15.07,0.75), (19.04,1.07), (23.09,1.40), (27.19,1.73), (31.36,2.03), (35.57,2.27), (39.82,2.48)]\nOption F\n  waypoints xy: [(2.10,0.01), (4.27,0.01), (6.52,0.01), (8.82,-0.00), (11.14,-0.01), (13.43,-0.03), (15.63,-0.05), (17.75,-0.07), (19.75,-0.09), (21.61,-0.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.96488744697511,"cv_gap":53.072}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-067/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-067/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-067/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.870 m/s at x-direction and -0.040 m/s at y-direction. The ego vehicle's current acceleration is -0.472 m/s^2 at x-direction and 0.132 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::61299b09568e3455470309f22c7aacfa-067"}},"extra_info":{"index":290,"token":"waymo_e2e::61299b09568e3455470309f22c7aacfa-067","id":"waymo_e2e::61299b09568e3455470309f22c7aacfa-067","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(10.37,-0.02), (20.76,-0.08), (31.15,-0.13), (41.53,-0.20), (51.93,-0.31), (62.33,-0.45), (72.76,-0.66), (83.24,-0.94), (93.78,-1.31), (104.39,-1.77)]\nOption B\n  waypoints xy: [(1.14,-0.04), (2.59,-0.19), (4.29,-0.53), (6.13,-1.20), (7.97,-2.28), (9.70,-3.82), (11.17,-5.86), (12.31,-8.35), (13.13,-11.25), (13.75,-14.50)]\nOption C\n  waypoints xy: [(6.51,0.00), (12.90,0.07), (19.26,0.14), (25.71,0.28), (32.25,0.35), (38.89,0.50), (45.59,0.65), (52.28,0.72), (58.93,0.72), (65.49,0.72)]\nOption D\n  waypoints xy: [(1.85,0.21), (3.73,0.74), (5.53,1.68), (7.12,3.05), (8.37,4.80), (9.27,6.83), (9.86,9.08), (10.27,11.50), (10.57,14.08), (10.81,16.78)]\nOption E\n  waypoints xy: [(4.29,-0.01), (8.21,-0.04), (11.66,-0.08), (14.55,-0.13), (16.81,-0.18), (18.39,-0.21), (19.31,-0.23), (19.74,-0.24), (19.90,-0.25), (19.98,-0.25)]\nOption F\n  waypoints xy: [(4.92,-0.01), (9.86,-0.02), (14.83,-0.05), (19.80,-0.07), (24.78,-0.09), (29.76,-0.11), (34.72,-0.12), (39.66,-0.13), (44.57,-0.14), (49.46,-0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.869738549287398,"cv_gap":28.855}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/99ddef6583934e40137d5386a5e743b9-150/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/99ddef6583934e40137d5386a5e743b9-150/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/99ddef6583934e40137d5386a5e743b9-150/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 5.273 m/s at x-direction and 0.061 m/s at y-direction. The ego vehicle's current acceleration is 0.193 m/s^2 at x-direction and -0.595 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::99ddef6583934e40137d5386a5e743b9-150"}},"extra_info":{"index":291,"token":"waymo_e2e::99ddef6583934e40137d5386a5e743b9-150","id":"waymo_e2e::99ddef6583934e40137d5386a5e743b9-150","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.06,0.45), (4.21,1.49), (6.23,3.22), (7.92,5.65), (9.21,8.67), (10.14,12.16), (10.80,16.02), (11.28,20.16), (11.68,24.52), (12.04,29.06)]\nOption B\n  waypoints xy: [(2.09,-0.56), (4.25,-1.57), (6.49,-2.94), (8.87,-4.58), (11.38,-6.43), (14.06,-8.46), (16.90,-10.62), (19.87,-12.87), (22.94,-15.19), (26.10,-17.55)]\nOption C\n  waypoints xy: [(3.04,-0.01), (6.12,-0.04), (9.25,-0.08), (12.40,-0.15), (15.57,-0.23), (18.76,-0.34), (21.96,-0.46), (25.15,-0.58), (28.32,-0.69), (31.44,-0.80)]\nOption D\n  waypoints xy: [(2.83,0.01), (5.50,0.05), (8.02,0.08), (10.52,0.12), (13.06,0.16), (15.65,0.19), (18.37,0.23), (21.16,0.27), (23.95,0.32), (26.75,0.39)]\nOption E\n  waypoints xy: [(4.50,-0.05), (9.22,-0.10), (14.10,-0.16), (19.08,-0.21), (24.16,-0.15), (29.32,-0.14), (34.57,-0.08), (39.89,-0.01), (45.25,0.17), (50.66,0.36)]\nOption F\n  waypoints xy: [(8.15,-0.04), (16.29,-0.15), (24.42,-0.31), (32.54,-0.53), (40.66,-0.81), (48.77,-1.13), (56.89,-1.50), (65.01,-1.90), (73.13,-2.36), (81.25,-2.86)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.273328968874097,"cv_gap":19.186}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/ce5b9f7b374dcbbae7655a1bcfdc05c2-158/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ce5b9f7b374dcbbae7655a1bcfdc05c2-158/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ce5b9f7b374dcbbae7655a1bcfdc05c2-158/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.800 m/s at x-direction and -0.013 m/s at y-direction. The ego vehicle's current acceleration is -0.374 m/s^2 at x-direction and 0.013 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::ce5b9f7b374dcbbae7655a1bcfdc05c2-158"}},"extra_info":{"index":292,"token":"waymo_e2e::ce5b9f7b374dcbbae7655a1bcfdc05c2-158","id":"waymo_e2e::ce5b9f7b374dcbbae7655a1bcfdc05c2-158","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(11.37,-0.04), (22.68,-0.14), (33.94,-0.27), (45.16,-0.43), (56.30,-0.62), (67.35,-0.84), (78.32,-1.09), (89.25,-1.43), (100.15,-1.82), (111.03,-2.30)]\nOption B\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption C\n  waypoints xy: [(2.39,0.05), (4.63,0.14), (6.65,0.27), (8.38,0.41), (9.75,0.53), (10.75,0.63), (11.40,0.70), (11.80,0.75), (12.05,0.79), (12.25,0.83)]\nOption D\n  waypoints xy: [(11.02,0.06), (22.07,0.18), (33.14,0.37), (44.24,0.60), (55.35,0.87), (66.48,1.17), (77.62,1.52), (88.75,1.88), (99.86,2.26), (110.95,2.66)]\nOption E\n  waypoints xy: [(3.98,-0.06), (8.25,-0.16), (12.81,-0.31), (17.66,-0.49), (22.76,-0.70), (28.07,-0.93), (33.56,-1.18), (39.19,-1.45), (44.92,-1.72), (50.74,-1.99)]\nOption F\n  waypoints xy: [(2.91,-0.00), (5.80,-0.01), (8.70,-0.01), (11.62,-0.01), (14.56,-0.00), (17.52,-0.00), (20.49,0.00), (23.44,0.01), (26.37,0.02), (29.28,0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.800201961317318,"cv_gap":17.259}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/af3d93ac2b96dbe21580fca517b1ab7e-140/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/af3d93ac2b96dbe21580fca517b1ab7e-140/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/af3d93ac2b96dbe21580fca517b1ab7e-140/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 14.145 m/s at x-direction and -0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.470 m/s^2 at x-direction and 0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::af3d93ac2b96dbe21580fca517b1ab7e-140"}},"extra_info":{"index":293,"token":"waymo_e2e::af3d93ac2b96dbe21580fca517b1ab7e-140","id":"waymo_e2e::af3d93ac2b96dbe21580fca517b1ab7e-140","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.28,-0.02), (10.18,-0.04), (14.68,-0.07), (18.77,-0.12), (22.44,-0.22), (25.66,-0.45), (28.42,-0.90), (30.77,-1.66), (32.71,-2.73), (34.26,-4.09)]\nOption B\n  waypoints xy: [(2.20,-0.51), (4.54,-1.47), (7.02,-2.83), (9.67,-4.54), (12.49,-6.53), (15.49,-8.73), (18.65,-11.08), (21.94,-13.53), (25.33,-16.05), (28.77,-18.61)]\nOption C\n  waypoints xy: [(0.31,-0.00), (0.38,-0.00), (0.38,-0.00), (0.38,-0.00), (0.39,-0.00), (0.54,-0.00), (0.97,-0.01), (1.67,-0.02), (2.58,-0.07), (3.61,-0.15)]\nOption D\n  waypoints xy: [(3.15,0.43), (6.24,1.44), (9.12,3.09), (11.67,5.37), (13.78,8.26), (15.42,11.66), (16.65,15.47), (17.64,19.61), (18.51,24.02), (19.37,28.67)]\nOption E\n  waypoints xy: [(0.01,-0.00), (0.01,-0.00), (0.01,-0.00), (0.01,-0.00), (0.01,-0.00), (0.06,-0.00), (0.26,-0.00), (0.70,-0.00), (1.36,-0.00), (2.22,-0.01)]\nOption F\n  waypoints xy: [(7.10,-0.00), (14.21,-0.00), (21.32,-0.01), (28.43,-0.02), (35.53,-0.03), (42.60,-0.04), (49.64,-0.07), (56.63,-0.11), (63.60,-0.14), (70.54,-0.17)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":14.145217400628026,"cv_gap":38.644}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/70fb08ecc8b64d4755130319dd5e4151-129/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/70fb08ecc8b64d4755130319dd5e4151-129/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/70fb08ecc8b64d4755130319dd5e4151-129/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.000 m/s at x-direction and -0.044 m/s at y-direction. The ego vehicle's current acceleration is -0.452 m/s^2 at x-direction and -0.012 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::70fb08ecc8b64d4755130319dd5e4151-129"}},"extra_info":{"index":294,"token":"waymo_e2e::70fb08ecc8b64d4755130319dd5e4151-129","id":"waymo_e2e::70fb08ecc8b64d4755130319dd5e4151-129","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.27,-0.01), (0.48,-0.03), (0.75,-0.07), (1.04,-0.14), (1.37,-0.23), (1.73,-0.36), (2.10,-0.52), (2.46,-0.71), (2.77,-0.88), (3.03,-1.06)]\nOption B\n  waypoints xy: [(1.11,0.08), (2.57,0.32), (4.35,0.85), (6.34,1.82), (8.37,3.34), (10.24,5.45), (11.81,8.13), (12.99,11.28), (13.84,14.81), (14.42,18.63)]\nOption C\n  waypoints xy: [(2.32,0.16), (4.57,0.64), (6.74,1.36), (8.84,2.35), (10.89,3.55), (12.85,4.99), (14.71,6.68), (16.38,8.64), (17.93,10.92), (19.28,13.55)]\nOption D\n  waypoints xy: [(4.97,-0.01), (9.97,-0.03), (14.97,-0.05), (19.99,-0.09), (24.99,-0.13), (29.97,-0.19), (34.94,-0.25), (39.90,-0.31), (44.85,-0.36), (49.80,-0.40)]\nOption E\n  waypoints xy: [(0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.01,0.00), (0.09,-0.00), (0.27,-0.00)]\nOption F\n  waypoints xy: [(4.77,-0.02), (9.05,-0.05), (12.75,-0.08), (15.82,-0.10), (18.26,-0.12), (20.08,-0.14), (21.40,-0.15), (22.38,-0.16), (23.07,-0.17), (23.57,-0.17)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.999649012678601,"cv_gap":26.429}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"732VbZzSs4","cam_id":"4_resize","sample_timestamps":["000000011052_000800000000","000000011053_000300000000","000000011053_000800000000","000000011054_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000011054_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"732VbZzSs4","cam_id":"2","sample_timestamps":["000000011052_000800000000","000000011053_000300000000","000000011053_000800000000","000000011054_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000011054_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"732VbZzSs4","cam_id":"7","sample_timestamps":["000000011052_000800000000","000000011053_000300000000","000000011053_000800000000","000000011054_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000011054_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.100 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -3.000 m/s^2 at x-direction and -0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"732VbZzSs4"}},"extra_info":{"index":295,"token":"732VbZzSs4","id":"732VbZzSs4","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.25,0.00), (2.02,0.00), (2.39,0.00), (2.49,0.00), (2.49,0.00), (2.49,0.00), (2.49,-0.00), (2.49,-0.00), (2.51,-0.00), (2.62,-0.00)]\nOption B\n  waypoints xy: [(2.12,0.02), (4.22,0.05), (6.30,0.09), (8.34,0.14), (10.34,0.20), (12.34,0.27), (14.35,0.34), (16.39,0.41), (18.43,0.49), (20.48,0.57)]\nOption C\n  waypoints xy: [(7.14,-0.01), (14.26,-0.02), (21.37,-0.05), (28.47,-0.08), (35.58,-0.12), (42.69,-0.15), (49.81,-0.19), (56.90,-0.23), (63.97,-0.28), (71.01,-0.34)]\nOption D\n  waypoints xy: [(2.73,-0.75), (5.50,-2.29), (8.29,-4.54), (11.20,-7.36), (14.30,-10.65), (17.68,-14.34), (21.33,-18.35), (25.19,-22.62), (29.21,-27.08), (33.36,-31.66)]\nOption E\n  waypoints xy: [(2.95,0.00), (6.15,-0.01), (9.61,-0.02), (13.29,-0.04), (17.20,-0.07), (21.31,-0.10), (25.57,-0.13), (29.97,-0.18), (34.53,-0.23), (39.24,-0.28)]\nOption F\n  waypoints xy: [(5.55,-0.01), (11.30,-0.01), (17.25,-0.01), (23.39,-0.01), (29.69,0.01), (36.15,0.04), (42.74,0.07), (49.42,0.11), (56.19,0.15), (63.00,0.21)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.1012193308819755,"cv_gap":17.854}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/08720a9a33dba798129d79b0762e1206-111/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/08720a9a33dba798129d79b0762e1206-111/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/08720a9a33dba798129d79b0762e1206-111/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.315 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.071 m/s^2 at x-direction and 0.026 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::08720a9a33dba798129d79b0762e1206-111"}},"extra_info":{"index":296,"token":"waymo_e2e::08720a9a33dba798129d79b0762e1206-111","id":"waymo_e2e::08720a9a33dba798129d79b0762e1206-111","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption B\n  waypoints xy: [(2.63,-0.00), (4.98,-0.01), (7.01,-0.01), (8.74,-0.02), (10.17,-0.03), (11.33,-0.04), (12.24,-0.05), (12.92,-0.06), (13.41,-0.06), (13.76,-0.06)]\nOption C\n  waypoints xy: [(5.08,0.01), (10.18,0.03), (15.29,0.07), (20.42,0.12), (25.55,0.19), (30.69,0.26), (35.84,0.33), (41.00,0.39), (46.17,0.45), (51.34,0.51)]\nOption D\n  waypoints xy: [(7.39,-0.00), (14.51,0.00), (21.31,0.02), (27.78,0.04), (33.89,0.06), (39.61,0.08), (44.97,0.09), (50.00,0.09), (54.70,0.10), (59.11,0.13)]\nOption E\n  waypoints xy: [(2.58,-0.00), (5.19,-0.00), (7.84,0.00), (10.53,0.02), (13.25,0.04), (15.98,0.06), (18.69,0.09), (21.38,0.11), (24.03,0.13), (26.67,0.14)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.3147597449937685,"cv_gap":12.278}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"5ZZStODfzz","cam_id":"4_resize","sample_timestamps":["000000010458_000000000000","000000010458_000500000000","000000010459_000000000000","000000010459_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000010459_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5ZZStODfzz","cam_id":"2","sample_timestamps":["000000010458_000000000000","000000010458_000500000000","000000010459_000000000000","000000010459_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000010459_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5ZZStODfzz","cam_id":"7","sample_timestamps":["000000010458_000000000000","000000010458_000500000000","000000010459_000000000000","000000010459_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000010459_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.100 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and 0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"5ZZStODfzz"}},"extra_info":{"index":297,"token":"5ZZStODfzz","id":"5ZZStODfzz","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.12,0.02), (4.22,0.05), (6.30,0.09), (8.34,0.14), (10.34,0.20), (12.34,0.27), (14.35,0.34), (16.39,0.41), (18.43,0.49), (20.48,0.57)]\nOption B\n  waypoints xy: [(1.18,-0.00), (2.32,-0.00), (3.39,-0.00), (4.34,-0.00), (5.19,-0.00), (5.93,-0.00), (6.59,-0.00), (7.15,-0.00), (7.65,-0.00), (8.07,-0.00)]\nOption C\n  waypoints xy: [(5.45,0.03), (10.86,0.12), (16.22,0.29), (21.47,0.56), (26.59,0.89), (31.60,1.26), (36.49,1.64), (41.28,2.04), (45.94,2.47), (50.46,2.94)]\nOption D\n  waypoints xy: [(8.06,-0.01), (16.14,-0.02), (24.21,-0.03), (32.29,-0.04), (40.34,-0.05), (48.37,-0.05), (56.36,-0.05), (64.27,-0.05), (72.11,-0.03), (79.91,-0.02)]\nOption E\n  waypoints xy: [(4.99,-0.08), (10.03,-0.29), (15.08,-0.59), (20.02,-0.92), (24.61,-1.16), (28.82,-1.37), (33.00,-1.61), (37.25,-1.97), (41.65,-2.48), (46.18,-3.05)]\nOption F\n  waypoints xy: [(4.74,-0.00), (9.25,-0.01), (13.41,-0.01), (17.23,-0.02), (20.69,-0.03), (23.80,-0.04), (26.57,-0.04), (29.01,-0.05), (31.15,-0.05), (33.00,-0.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.1012193308819755,"cv_gap":12.604}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/62a89c9ad9483815c6ac3d2257e371b3-061/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/62a89c9ad9483815c6ac3d2257e371b3-061/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/62a89c9ad9483815c6ac3d2257e371b3-061/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.366 m/s at x-direction and 0.002 m/s at y-direction. The ego vehicle's current acceleration is 0.055 m/s^2 at x-direction and -0.182 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::62a89c9ad9483815c6ac3d2257e371b3-061"}},"extra_info":{"index":298,"token":"waymo_e2e::62a89c9ad9483815c6ac3d2257e371b3-061","id":"waymo_e2e::62a89c9ad9483815c6ac3d2257e371b3-061","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(-0.00,0.00), (-0.00,0.00), (-0.00,-0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,-0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,-0.00), (-0.00,-0.00)]\nOption B\n  waypoints xy: [(3.09,-0.17), (6.27,-0.55), (9.47,-1.14), (12.63,-1.91), (15.71,-2.82), (18.64,-3.83), (21.41,-4.90), (24.02,-6.01), (26.47,-7.15), (28.75,-8.31)]\nOption C\n  waypoints xy: [(0.52,-0.00), (0.79,-0.00), (0.92,-0.00), (1.00,0.00), (1.01,0.00), (1.03,0.00), (1.05,0.00), (1.07,0.00), (1.08,0.00), (1.10,0.00)]\nOption D\n  waypoints xy: [(3.11,-0.01), (6.17,-0.01), (9.30,-0.02), (12.52,-0.03), (15.80,-0.04), (19.09,-0.06), (22.36,-0.08), (25.59,-0.10), (28.77,-0.11), (31.88,-0.12)]\nOption E\n  waypoints xy: [(1.97,-0.48), (3.89,-1.48), (5.64,-3.04), (7.17,-5.15), (8.50,-7.77), (9.75,-10.81), (10.97,-14.21), (12.22,-17.91), (13.51,-21.87), (14.85,-26.02)]\nOption F\n  waypoints xy: [(5.64,0.14), (10.79,0.51), (15.38,1.05), (19.35,1.68), (22.64,2.32), (25.22,2.88), (27.14,3.29), (28.45,3.56), (29.25,3.71), (29.68,3.77)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.36550499175212,"cv_gap":9.645}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"OIuOEffvix","cam_id":"4_resize","sample_timestamps":["001742889852_000300000000","001742889852_000800000000","001742889853_000300000000","001742889853_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001742889853_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OIuOEffvix","cam_id":"2","sample_timestamps":["001742889852_000300000000","001742889852_000800000000","001742889853_000300000000","001742889853_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001742889853_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"OIuOEffvix","cam_id":"7","sample_timestamps":["001742889852_000300000000","001742889852_000800000000","001742889853_000300000000","001742889853_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001742889853_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"OIuOEffvix"}},"extra_info":{"index":299,"token":"OIuOEffvix","id":"OIuOEffvix","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.08,-0.01), (10.12,-0.02), (15.10,-0.05), (20.02,-0.08), (24.89,-0.12), (29.72,-0.17), (34.53,-0.21), (39.36,-0.24), (44.22,-0.26), (49.10,-0.26)]\nOption B\n  waypoints xy: [(3.94,0.01), (7.93,0.02), (11.96,0.04), (15.97,0.07), (19.94,0.09), (23.82,0.10), (27.48,0.10), (30.74,0.09), (33.54,0.07), (35.88,0.06)]\nOption C\n  waypoints xy: [(3.30,-0.02), (6.64,-0.04), (10.00,-0.07), (13.37,-0.10), (16.72,-0.12), (20.03,-0.14), (23.29,-0.16), (26.48,-0.17), (29.58,-0.18), (32.56,-0.18)]\nOption D\n  waypoints xy: [(0.66,-0.00), (1.25,-0.00), (1.78,0.00), (2.25,0.01), (2.67,0.02), (3.07,0.03), (3.46,0.05), (3.83,0.08), (4.19,0.11), (4.55,0.14)]\nOption E\n  waypoints xy: [(3.71,-0.02), (7.22,-0.04), (10.55,-0.07), (13.69,-0.12), (16.67,-0.19), (19.56,-0.27), (22.62,-0.34), (25.96,-0.38), (29.53,-0.38), (33.24,-0.38)]\nOption F\n  waypoints xy: [(1.53,0.00), (3.07,0.01), (4.65,0.01), (6.20,0.02), (7.71,0.03), (9.17,0.04), (10.62,0.06), (12.09,0.07), (13.60,0.10), (15.13,0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.0,"cv_gap":10.285}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/cdcabe1c0037d309de0d5fdd53becf18-044/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/cdcabe1c0037d309de0d5fdd53becf18-044/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/cdcabe1c0037d309de0d5fdd53becf18-044/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.354 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.339 m/s^2 at x-direction and -0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::cdcabe1c0037d309de0d5fdd53becf18-044"}},"extra_info":{"index":300,"token":"waymo_e2e::cdcabe1c0037d309de0d5fdd53becf18-044","id":"waymo_e2e::cdcabe1c0037d309de0d5fdd53becf18-044","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.26,0.05), (12.57,0.19), (18.94,0.42), (25.35,0.73), (31.82,1.12), (38.33,1.55), (44.89,2.02), (51.47,2.51), (58.07,3.01), (64.67,3.52)]\nOption B\n  waypoints xy: [(4.73,-0.00), (9.26,-0.01), (13.59,-0.00), (17.71,0.00), (21.46,0.01), (24.85,0.01), (27.95,0.01), (30.82,0.01), (33.45,0.00), (35.85,-0.01)]\nOption C\n  waypoints xy: [(4.43,-0.00), (8.80,-0.01), (13.11,-0.02), (17.32,-0.03), (21.44,-0.05), (25.43,-0.06), (29.28,-0.06), (32.96,-0.06), (36.46,-0.06), (39.76,-0.05)]\nOption D\n  waypoints xy: [(2.17,-0.02), (4.34,-0.04), (6.53,-0.08), (8.74,-0.11), (10.94,-0.14), (13.13,-0.15), (15.28,-0.15), (17.41,-0.13), (19.53,-0.10), (21.61,-0.05)]\nOption E\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption F\n  waypoints xy: [(2.05,-0.00), (3.65,-0.01), (4.78,-0.01), (5.44,-0.01), (5.69,-0.01), (5.72,-0.01), (5.72,-0.01), (5.72,-0.01), (5.72,-0.01), (5.78,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.353739754117808,"cv_gap":15.968}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/37a594f0070a57373d913a0670dfcdc9-221/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/37a594f0070a57373d913a0670dfcdc9-221/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/37a594f0070a57373d913a0670dfcdc9-221/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.760 m/s at x-direction and 0.016 m/s at y-direction. The ego vehicle's current acceleration is -0.319 m/s^2 at x-direction and 0.020 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::37a594f0070a57373d913a0670dfcdc9-221"}},"extra_info":{"index":301,"token":"waymo_e2e::37a594f0070a57373d913a0670dfcdc9-221","id":"waymo_e2e::37a594f0070a57373d913a0670dfcdc9-221","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.81,0.01), (5.64,0.04), (8.49,0.05), (11.36,0.05), (14.25,0.05), (17.16,0.03), (20.08,0.02), (23.01,0.02), (25.90,0.05), (28.74,0.08)]\nOption B\n  waypoints xy: [(7.73,-0.01), (15.46,-0.02), (23.19,-0.03), (30.90,-0.04), (38.61,-0.04), (46.30,-0.04), (53.98,-0.04), (61.63,-0.03), (69.25,-0.03), (76.84,-0.02)]\nOption C\n  waypoints xy: [(5.68,-0.00), (11.39,-0.01), (17.13,-0.02), (22.89,-0.06), (28.66,-0.13), (34.44,-0.23), (40.23,-0.34), (46.02,-0.49), (51.81,-0.65), (57.61,-0.84)]\nOption D\n  waypoints xy: [(6.46,0.03), (12.96,0.11), (19.50,0.21), (26.06,0.34), (32.66,0.46), (39.29,0.59), (45.93,0.73), (52.57,0.87), (59.21,1.00), (65.82,1.12)]\nOption E\n  waypoints xy: [(7.32,-0.02), (14.70,-0.07), (22.13,-0.16), (29.60,-0.28), (37.09,-0.44), (44.61,-0.63), (52.14,-0.85), (59.67,-1.10), (67.18,-1.36), (74.65,-1.64)]\nOption F\n  waypoints xy: [(2.64,-0.01), (4.92,-0.01), (6.77,-0.02), (8.15,-0.03), (9.07,-0.03), (9.54,-0.04), (9.68,-0.04), (9.69,-0.04), (9.71,-0.04), (9.78,-0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.75964769103226,"cv_gap":19.146}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"7p5U2ayCvb","cam_id":"4_resize","sample_timestamps":["000000018298_000650000000","000000018298_000900000000","000000018299_000150000000","000000018299_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000018299_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7p5U2ayCvb","cam_id":"2","sample_timestamps":["000000018297_000900000000","000000018298_000400000000","000000018298_000900000000","000000018299_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000018299_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7p5U2ayCvb","cam_id":"7","sample_timestamps":["000000018297_000900000000","000000018298_000400000000","000000018298_000900000000","000000018299_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000018299_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn right with a constant speed**. The ego vehicle's current velocity is 4.200 m/s at x-direction and 0.400 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and -1.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"7p5U2ayCvb"}},"extra_info":{"index":302,"token":"7p5U2ayCvb","id":"7p5U2ayCvb","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption B\n  waypoints xy: [(10.52,-0.11), (21.04,-0.23), (31.57,-0.23), (42.08,-0.22), (52.60,-0.11), (63.13,0.12), (73.69,0.34), (84.27,0.57), (94.87,1.04), (105.47,1.50)]\nOption C\n  waypoints xy: [(5.36,0.03), (10.80,0.09), (16.31,0.19), (21.89,0.33), (27.53,0.51), (33.20,0.70), (38.90,0.90), (44.60,1.10), (50.28,1.31), (55.95,1.51)]\nOption D\n  waypoints xy: [(1.24,0.26), (2.49,0.79), (3.68,1.64), (4.68,2.86), (5.42,4.42), (5.91,6.25), (6.26,8.26), (6.62,10.36), (7.04,12.55), (7.54,14.76)]\nOption E\n  waypoints xy: [(1.53,-0.14), (3.05,-0.36), (4.55,-0.66), (6.03,-1.04), (7.48,-1.49), (8.92,-2.00), (10.34,-2.55), (11.76,-3.14), (13.17,-3.78), (14.59,-4.45)]\nOption F\n  waypoints xy: [(2.17,0.04), (4.30,0.12), (6.40,0.24), (8.47,0.40), (10.52,0.60), (12.56,0.84), (14.62,1.10), (16.68,1.39), (18.74,1.69), (20.76,1.99)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.219004621945797,"cv_gap":9.741}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2e8e82bb03417bb953b44e1e345447a5-165/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2e8e82bb03417bb953b44e1e345447a5-165/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2e8e82bb03417bb953b44e1e345447a5-165/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.088 m/s at x-direction and -0.066 m/s at y-direction. The ego vehicle's current acceleration is -0.538 m/s^2 at x-direction and -0.028 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2e8e82bb03417bb953b44e1e345447a5-165"}},"extra_info":{"index":303,"token":"waymo_e2e::2e8e82bb03417bb953b44e1e345447a5-165","id":"waymo_e2e::2e8e82bb03417bb953b44e1e345447a5-165","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.42,-0.01), (8.91,-0.03), (13.41,-0.05), (17.95,-0.06), (22.50,-0.07), (27.08,-0.06), (31.68,-0.06), (36.30,-0.05), (40.93,-0.06), (45.52,-0.09)]\nOption B\n  waypoints xy: [(3.49,-0.00), (6.62,-0.01), (9.50,-0.07), (12.25,-0.45), (14.72,-1.30), (16.87,-2.63), (18.59,-4.50), (19.78,-6.80), (20.47,-9.42), (20.88,-12.31)]\nOption C\n  waypoints xy: [(2.23,0.48), (4.30,1.40), (6.11,2.72), (7.62,4.37), (8.89,6.36), (10.03,8.62), (11.17,11.07), (12.33,13.70), (13.51,16.44), (14.72,19.25)]\nOption D\n  waypoints xy: [(7.32,0.00), (14.65,-0.00), (21.97,-0.01), (29.29,-0.03), (36.60,-0.07), (43.90,-0.12), (51.20,-0.19), (58.50,-0.26), (65.77,-0.32), (73.01,-0.38)]\nOption E\n  waypoints xy: [(1.95,0.11), (4.01,0.39), (6.16,0.88), (8.39,1.58), (10.68,2.51), (13.00,3.66), (15.32,5.02), (17.64,6.55), (19.90,8.26), (22.10,10.09)]\nOption F\n  waypoints xy: [(5.64,-0.02), (11.32,-0.04), (17.03,-0.08), (22.77,-0.12), (28.54,-0.16), (34.33,-0.20), (40.13,-0.23), (45.92,-0.27), (51.68,-0.32), (57.40,-0.37)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.088101540797961,"cv_gap":28.499}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"SbwBLoADDI","cam_id":"4_resize","sample_timestamps":["000000018550_000650000000","000000018550_000900000000","000000018551_000150000000","000000018551_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000018551_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"SbwBLoADDI","cam_id":"2","sample_timestamps":["000000018549_000900000000","000000018550_000400000000","000000018550_000900000000","000000018551_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000018551_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"SbwBLoADDI","cam_id":"7","sample_timestamps":["000000018549_000900000000","000000018550_000400000000","000000018550_000900000000","000000018551_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000018551_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.900 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.200 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"SbwBLoADDI"}},"extra_info":{"index":304,"token":"SbwBLoADDI","id":"SbwBLoADDI","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.48,0.01), (4.98,0.03), (7.50,0.06), (10.00,0.10), (12.50,0.13), (14.97,0.17), (17.41,0.20), (19.82,0.23), (22.19,0.26), (24.52,0.28)]\nOption B\n  waypoints xy: [(1.79,-0.01), (3.24,-0.02), (4.33,-0.03), (5.02,-0.04), (5.33,-0.05), (5.39,-0.05), (5.40,-0.05), (5.40,-0.05), (5.41,-0.05), (5.48,-0.05)]\nOption C\n  waypoints xy: [(5.37,-0.00), (10.84,0.01), (16.39,0.03), (22.01,0.06), (27.67,0.09), (33.36,0.13), (39.08,0.15), (44.82,0.17), (50.58,0.19), (56.35,0.22)]\nOption D\n  waypoints xy: [(9.28,0.00), (18.46,0.01), (27.53,0.01), (36.50,-0.00), (45.36,-0.01), (54.10,0.00), (62.74,0.01), (71.27,0.02), (79.73,0.04), (88.13,0.06)]\nOption E\n  waypoints xy: [(5.36,-0.02), (10.74,-0.04), (16.18,-0.07), (21.62,-0.08), (26.94,-0.08), (32.25,-0.08), (37.61,-0.09), (43.03,-0.08), (48.50,-0.04), (54.00,0.03)]\nOption F\n  waypoints xy: [(5.40,-0.01), (10.80,-0.03), (16.17,-0.05), (21.46,-0.08), (26.60,-0.10), (31.54,-0.12), (36.20,-0.14), (40.55,-0.15), (44.54,-0.16), (48.16,-0.17)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.901020301937139,"cv_gap":18.922}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"5vARkKe6df","cam_id":"4_resize","sample_timestamps":["000000000526_000300000000","000000000526_000800000000","000000000527_000300000000","000000000527_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000527_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5vARkKe6df","cam_id":"2","sample_timestamps":["000000000526_000300000000","000000000526_000800000000","000000000527_000300000000","000000000527_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000527_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5vARkKe6df","cam_id":"7","sample_timestamps":["000000000526_000300000000","000000000526_000800000000","000000000527_000300000000","000000000527_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000527_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.100 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"5vARkKe6df"}},"extra_info":{"index":305,"token":"5vARkKe6df","id":"5vARkKe6df","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.31,-0.59), (7.06,-1.49), (11.27,-2.49), (15.96,-3.46), (21.07,-4.35), (26.49,-5.21), (32.15,-6.13), (38.00,-7.09), (43.99,-8.10), (50.09,-9.16)]\nOption B\n  waypoints xy: [(1.90,-0.00), (3.88,-0.00), (5.93,0.00), (8.03,-0.00), (10.16,-0.01), (12.28,-0.02), (14.34,-0.04), (16.34,-0.06), (18.26,-0.08), (20.09,-0.09)]\nOption C\n  waypoints xy: [(4.64,0.00), (9.29,0.00), (13.92,0.01), (18.54,0.00), (23.13,-0.03), (27.67,-0.09), (32.16,-0.17), (36.60,-0.25), (40.97,-0.35), (45.22,-0.45)]\nOption D\n  waypoints xy: [(1.75,-0.07), (3.61,-0.19), (5.39,-0.38), (6.96,-0.61), (8.14,-0.86), (8.88,-1.04), (9.28,-1.15), (9.42,-1.18), (9.42,-1.18), (9.42,-1.18)]\nOption E\n  waypoints xy: [(5.36,-0.01), (10.78,-0.03), (16.27,-0.05), (21.83,-0.07), (27.46,-0.11), (33.17,-0.15), (38.95,-0.19), (44.80,-0.22), (50.71,-0.25), (56.65,-0.28)]\nOption F\n  waypoints xy: [(4.72,-0.01), (9.37,-0.02), (13.93,-0.03), (18.37,-0.05), (22.67,-0.06), (26.81,-0.07), (30.75,-0.10), (34.44,-0.13), (37.83,-0.16), (40.89,-0.18)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.1,"cv_gap":10.922}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/78f7905cd336355da76d0b674055db1e-072/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/78f7905cd336355da76d0b674055db1e-072/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/78f7905cd336355da76d0b674055db1e-072/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.908 m/s at x-direction and -0.013 m/s at y-direction. The ego vehicle's current acceleration is 0.087 m/s^2 at x-direction and 0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::78f7905cd336355da76d0b674055db1e-072"}},"extra_info":{"index":306,"token":"waymo_e2e::78f7905cd336355da76d0b674055db1e-072","id":"waymo_e2e::78f7905cd336355da76d0b674055db1e-072","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption B\n  waypoints xy: [(4.45,-0.15), (8.95,-0.50), (13.46,-1.08), (17.97,-1.88), (22.46,-2.87), (26.91,-4.04), (31.28,-5.36), (35.54,-6.81), (39.67,-8.34), (43.63,-9.94)]\nOption C\n  waypoints xy: [(2.64,-0.00), (5.03,-0.01), (7.16,-0.01), (8.97,-0.02), (10.44,-0.02), (11.52,-0.03), (12.22,-0.03), (12.58,-0.03), (12.73,-0.03), (12.79,-0.03)]\nOption D\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption E\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption F\n  waypoints xy: [(4.65,0.01), (9.59,0.03), (14.79,0.07), (20.24,0.13), (25.94,0.22), (31.86,0.32), (37.97,0.44), (44.23,0.56), (50.64,0.68), (57.19,0.84)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.908210769527772,"cv_gap":11.747}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/fd764f285b1a8f4b3e5840c76636a1fe-091/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/fd764f285b1a8f4b3e5840c76636a1fe-091/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/fd764f285b1a8f4b3e5840c76636a1fe-091/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.210 m/s at x-direction and -0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.308 m/s^2 at x-direction and -0.011 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::fd764f285b1a8f4b3e5840c76636a1fe-091"}},"extra_info":{"index":307,"token":"waymo_e2e::fd764f285b1a8f4b3e5840c76636a1fe-091","id":"waymo_e2e::fd764f285b1a8f4b3e5840c76636a1fe-091","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.67,0.01), (11.30,0.02), (16.93,0.07), (22.56,0.21), (28.20,0.51), (33.88,0.94), (39.60,1.44), (45.36,1.95), (51.17,2.43), (57.03,2.86)]\nOption B\n  waypoints xy: [(8.75,0.00), (17.31,0.01), (25.66,0.00), (33.83,-0.04), (41.81,-0.09), (49.61,-0.14), (57.26,-0.20), (64.79,-0.25), (72.22,-0.28), (79.56,-0.30)]\nOption C\n  waypoints xy: [(5.66,-0.02), (11.28,-0.05), (16.84,-0.10), (22.33,-0.17), (27.77,-0.26), (33.18,-0.37), (38.59,-0.47), (43.99,-0.56), (49.33,-0.63), (54.56,-0.67)]\nOption D\n  waypoints xy: [(4.81,-0.00), (9.62,-0.00), (14.41,0.00), (19.19,0.00), (23.95,0.00), (28.70,-0.00), (33.44,-0.02), (38.16,-0.05), (42.84,-0.08), (47.48,-0.11)]\nOption E\n  waypoints xy: [(1.88,-0.01), (3.52,-0.04), (4.90,-0.07), (6.01,-0.10), (6.82,-0.13), (7.36,-0.14), (7.66,-0.15), (7.81,-0.15), (7.89,-0.16), (8.00,-0.16)]\nOption F\n  waypoints xy: [(2.19,0.00), (4.36,0.01), (6.48,0.01), (8.57,0.01), (10.64,-0.00), (12.70,-0.02), (14.75,-0.03), (16.77,-0.04), (18.73,-0.05), (20.61,-0.06)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.210079197878598,"cv_gap":13.313}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"QsnQNNa3Si","cam_id":"4_resize","sample_timestamps":["000000023399_000400000000","000000023399_000900000000","000000023400_000400000000","000000023400_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000023400_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QsnQNNa3Si","cam_id":"2","sample_timestamps":["000000023399_000400000000","000000023399_000900000000","000000023400_000400000000","000000023400_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000023400_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QsnQNNa3Si","cam_id":"7","sample_timestamps":["000000023399_000400000000","000000023399_000900000000","000000023400_000400000000","000000023400_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000023400_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"QsnQNNa3Si"}},"extra_info":{"index":308,"token":"QsnQNNa3Si","id":"QsnQNNa3Si","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.60,-0.04), (7.29,-0.13), (11.06,-0.26), (14.92,-0.42), (18.86,-0.61), (22.89,-0.83), (27.00,-1.05), (31.19,-1.29), (35.42,-1.55), (39.68,-1.83)]\nOption B\n  waypoints xy: [(6.03,-0.01), (12.07,-0.04), (18.10,-0.07), (24.13,-0.11), (30.13,-0.16), (36.10,-0.21), (42.05,-0.25), (47.96,-0.30), (53.84,-0.36), (59.67,-0.42)]\nOption C\n  waypoints xy: [(4.43,-0.00), (8.87,-0.01), (13.29,-0.00), (17.68,0.02), (22.02,0.05), (26.32,0.11), (30.56,0.17), (34.74,0.24), (38.82,0.32), (42.82,0.41)]\nOption D\n  waypoints xy: [(7.42,0.02), (14.80,0.07), (22.17,0.08), (29.56,0.05), (36.98,0.01), (44.41,-0.00), (51.93,-0.01), (59.52,-0.00), (67.16,0.01), (74.81,0.01)]\nOption E\n  waypoints xy: [(1.45,0.00), (2.92,0.00), (4.41,0.01), (5.90,0.01), (7.40,0.03), (8.88,0.05), (10.34,0.07), (11.77,0.09), (13.16,0.11), (14.48,0.12)]\nOption F\n  waypoints xy: [(1.34,-0.01), (2.54,-0.03), (3.57,-0.04), (4.42,-0.04), (5.07,-0.03), (5.52,-0.02), (5.80,-0.02), (5.95,-0.01), (6.03,-0.01), (6.09,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.9,"cv_gap":8.41}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"xiG16F8o2k","cam_id":"4_resize","sample_timestamps":["000000026375_000700000000","000000026376_000200000000","000000026376_000700000000","000000026377_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000026377_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"xiG16F8o2k","cam_id":"2","sample_timestamps":["000000026375_000700000000","000000026376_000200000000","000000026376_000700000000","000000026377_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000026377_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"xiG16F8o2k","cam_id":"7","sample_timestamps":["000000026375_000700000000","000000026376_000200000000","000000026376_000700000000","000000026377_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000026377_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 7.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.900 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"xiG16F8o2k"}},"extra_info":{"index":309,"token":"xiG16F8o2k","id":"xiG16F8o2k","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.99,-0.01), (13.98,-0.02), (20.98,-0.03), (27.99,-0.04), (35.01,-0.06), (42.06,-0.08), (49.13,-0.10), (56.20,-0.14), (63.28,-0.18), (70.34,-0.22)]\nOption B\n  waypoints xy: [(3.23,-0.01), (6.12,-0.02), (8.62,-0.03), (10.67,-0.04), (12.26,-0.04), (13.40,-0.05), (14.11,-0.05), (14.47,-0.06), (14.58,-0.06), (14.63,-0.06)]\nOption C\n  waypoints xy: [(6.11,0.07), (12.24,0.13), (18.39,0.13), (24.54,0.20), (30.68,0.20), (36.77,0.20), (42.76,0.20), (48.67,0.14), (54.49,0.07), (60.19,-0.12)]\nOption D\n  waypoints xy: [(3.86,-0.01), (7.73,-0.01), (11.62,-0.02), (15.50,-0.03), (19.36,-0.03), (23.17,-0.03), (26.96,-0.03), (30.72,-0.03), (34.48,-0.03), (38.23,-0.03)]\nOption E\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\nOption F\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.7,"cv_gap":23.904}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"N8kG9Ywc3u","cam_id":"4_resize","sample_timestamps":["000000012890_000650000000","000000012890_000900000000","000000012891_000150000000","000000012891_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000012891_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"N8kG9Ywc3u","cam_id":"2","sample_timestamps":["000000012889_000900000000","000000012890_000400000000","000000012890_000900000000","000000012891_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000012891_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"N8kG9Ywc3u","cam_id":"7","sample_timestamps":["000000012889_000900000000","000000012890_000400000000","000000012890_000900000000","000000012891_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000012891_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.500 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"N8kG9Ywc3u"}},"extra_info":{"index":310,"token":"N8kG9Ywc3u","id":"N8kG9Ywc3u","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.54,-0.01), (15.06,-0.01), (22.55,-0.02), (29.98,-0.01), (37.38,-0.01), (44.75,-0.00), (52.12,0.01), (59.48,0.02), (66.84,0.05), (74.20,0.09)]\nOption B\n  waypoints xy: [(4.97,0.01), (10.20,0.02), (15.66,0.06), (21.34,0.11), (27.24,0.16), (33.31,0.23), (39.36,0.32), (45.39,0.44), (51.70,0.58), (58.28,0.74)]\nOption C\n  waypoints xy: [(2.16,-0.01), (3.71,-0.01), (4.61,-0.01), (4.97,-0.01), (5.02,-0.01), (5.02,-0.01), (5.02,-0.01), (5.02,-0.01), (5.03,-0.01), (5.13,-0.01)]\nOption D\n  waypoints xy: [(11.36,-0.03), (22.76,-0.11), (34.16,-0.21), (45.55,-0.33), (56.93,-0.45), (68.31,-0.53), (79.68,-0.55), (91.02,-0.52), (102.32,-0.49), (113.59,-0.46)]\nOption E\n  waypoints xy: [(2.91,-0.00), (5.80,-0.01), (8.70,-0.01), (11.62,-0.01), (14.56,-0.00), (17.52,-0.00), (20.49,0.00), (23.44,0.01), (26.37,0.02), (29.28,0.02)]\nOption F\n  waypoints xy: [(3.53,0.01), (7.14,0.05), (10.82,0.10), (14.58,0.20), (18.43,0.32), (22.37,0.48), (26.37,0.66), (30.42,0.85), (34.53,1.05), (38.71,1.25)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.8,"cv_gap":23.624}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/1970cd837e32cfe066096766ad569cf1-037/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1970cd837e32cfe066096766ad569cf1-037/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1970cd837e32cfe066096766ad569cf1-037/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 4.098 m/s at x-direction and -0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.513 m/s^2 at x-direction and 0.008 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::1970cd837e32cfe066096766ad569cf1-037"}},"extra_info":{"index":311,"token":"waymo_e2e::1970cd837e32cfe066096766ad569cf1-037","id":"waymo_e2e::1970cd837e32cfe066096766ad569cf1-037","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.90,-0.00), (3.88,-0.00), (5.93,0.00), (8.03,-0.00), (10.16,-0.01), (12.28,-0.02), (14.34,-0.04), (16.34,-0.06), (18.26,-0.08), (20.09,-0.09)]\nOption B\n  waypoints xy: [(4.27,0.01), (8.49,0.02), (12.65,0.04), (16.72,0.06), (20.66,0.10), (24.43,0.14), (27.98,0.18), (31.29,0.21), (34.32,0.24), (37.10,0.25)]\nOption C\n  waypoints xy: [(5.58,0.00), (11.11,0.02), (16.57,0.05), (21.95,0.07), (27.23,0.10), (32.43,0.14), (37.56,0.17), (42.63,0.21), (47.63,0.24), (52.53,0.28)]\nOption D\n  waypoints xy: [(5.50,-0.01), (11.03,-0.02), (16.54,-0.04), (21.98,-0.06), (27.32,-0.06), (32.54,-0.04), (37.60,-0.01), (42.52,0.03), (47.33,-0.00), (52.04,-0.16)]\nOption E\n  waypoints xy: [(1.65,0.00), (2.75,0.00), (3.30,0.00), (3.45,0.00), (3.45,0.00), (3.45,0.00), (3.45,0.01), (3.44,0.01), (3.44,0.01), (3.46,0.01)]\nOption F\n  waypoints xy: [(8.87,-0.01), (17.78,-0.03), (26.75,-0.09), (35.79,-0.12), (44.89,-0.20), (54.05,-0.29), (63.27,-0.37), (72.55,-0.45), (81.88,-0.57), (91.25,-0.69)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.09784176794407,"cv_gap":17.249}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"bAoYbrvV6e","cam_id":"4_resize","sample_timestamps":["000000023965_000700000000","000000023966_000200000000","000000023966_000700000000","000000023967_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000023967_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bAoYbrvV6e","cam_id":"2","sample_timestamps":["000000023965_000700000000","000000023966_000200000000","000000023966_000700000000","000000023967_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000023967_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"bAoYbrvV6e","cam_id":"7","sample_timestamps":["000000023965_000700000000","000000023966_000200000000","000000023966_000700000000","000000023967_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000023967_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 9.700 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.900 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"bAoYbrvV6e"}},"extra_info":{"index":312,"token":"bAoYbrvV6e","id":"bAoYbrvV6e","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.78,-0.01), (9.58,-0.02), (14.40,-0.06), (19.24,-0.12), (24.11,-0.19), (29.00,-0.26), (33.92,-0.33), (38.86,-0.40), (43.82,-0.45), (48.81,-0.49)]\nOption B\n  waypoints xy: [(9.00,0.01), (18.09,0.01), (27.27,0.02), (36.52,0.01), (45.84,0.03), (55.23,0.04), (64.65,0.05), (74.07,0.08), (83.47,0.15), (92.82,0.24)]\nOption C\n  waypoints xy: [(9.51,-0.01), (19.01,-0.02), (28.49,-0.05), (37.96,-0.08), (47.41,-0.10), (56.85,-0.14), (66.27,-0.19), (75.69,-0.26), (85.11,-0.35), (94.52,-0.45)]\nOption D\n  waypoints xy: [(1.92,0.42), (3.66,1.31), (5.15,2.63), (6.30,4.33), (7.06,6.28), (7.43,8.32), (7.61,10.45), (7.76,12.67), (7.94,14.96), (8.12,17.29)]\nOption E\n  waypoints xy: [(1.58,-0.15), (3.03,-0.45), (4.43,-0.93), (5.81,-1.65), (7.18,-2.70), (8.53,-4.11), (9.87,-5.90), (11.19,-8.05), (12.43,-10.57), (13.63,-13.41)]\nOption F\n  waypoints xy: [(3.87,-0.02), (7.43,-0.05), (10.61,-0.07), (13.34,-0.10), (15.56,-0.12), (17.21,-0.14), (18.30,-0.15), (18.90,-0.16), (19.12,-0.16), (19.18,-0.16)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.70051545022222,"cv_gap":29.365}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"HRK7Wknf4d","cam_id":"4_resize","sample_timestamps":["000000001354_000800000000","000000001355_000300000000","000000001355_000800000000","000000001356_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001356_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HRK7Wknf4d","cam_id":"2","sample_timestamps":["000000001354_000800000000","000000001355_000300000000","000000001355_000800000000","000000001356_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001356_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HRK7Wknf4d","cam_id":"7","sample_timestamps":["000000001354_000800000000","000000001355_000300000000","000000001355_000800000000","000000001356_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001356_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"HRK7Wknf4d"}},"extra_info":{"index":313,"token":"HRK7Wknf4d","id":"HRK7Wknf4d","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.33,0.00), (2.67,0.01), (4.00,0.01), (5.36,0.02), (6.73,0.02), (8.13,0.03), (9.53,0.03), (10.93,0.03), (12.31,0.03), (13.66,0.02)]\nOption B\n  waypoints xy: [(0.90,-0.00), (1.55,-0.00), (1.94,-0.00), (2.12,-0.00), (2.17,-0.00), (2.18,-0.00), (2.18,-0.00), (2.19,-0.00), (2.20,-0.00), (2.25,-0.00)]\nOption C\n  waypoints xy: [(4.78,0.01), (9.54,0.04), (14.27,0.08), (18.96,0.13), (23.61,0.19), (28.21,0.25), (32.74,0.31), (37.19,0.37), (41.57,0.44), (45.87,0.49)]\nOption D\n  waypoints xy: [(4.71,0.00), (9.36,0.01), (13.93,0.02), (18.43,0.04), (22.87,0.07), (27.28,0.10), (31.67,0.13), (36.05,0.16), (40.45,0.19), (44.82,0.23)]\nOption E\n  waypoints xy: [(4.37,-0.00), (8.88,-0.00), (13.53,-0.01), (18.31,-0.02), (23.21,-0.04), (28.25,-0.07), (33.41,-0.10), (38.70,-0.14), (44.11,-0.19), (49.56,-0.24)]\nOption F\n  waypoints xy: [(5.69,0.13), (11.73,0.58), (18.12,1.29), (24.85,2.11), (31.89,3.05), (39.21,4.11), (46.72,5.12), (54.28,6.13), (61.79,6.96), (69.15,7.85)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.7,"cv_gap":11.137}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/f0340e8596856181f78aadf414526dbd-176/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f0340e8596856181f78aadf414526dbd-176/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f0340e8596856181f78aadf414526dbd-176/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.176 m/s at x-direction and -0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.535 m/s^2 at x-direction and -0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::f0340e8596856181f78aadf414526dbd-176"}},"extra_info":{"index":314,"token":"waymo_e2e::f0340e8596856181f78aadf414526dbd-176","id":"waymo_e2e::f0340e8596856181f78aadf414526dbd-176","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.12,-0.01), (6.25,-0.03), (9.36,-0.05), (12.45,-0.07), (15.55,-0.09), (18.66,-0.11), (21.77,-0.13), (24.83,-0.17), (27.82,-0.21), (30.75,-0.26)]\nOption B\n  waypoints xy: [(9.39,0.06), (18.80,0.17), (28.23,0.30), (37.66,0.43), (47.11,0.57), (56.55,0.71), (66.00,0.85), (75.43,0.97), (84.84,1.08), (94.21,1.17)]\nOption C\n  waypoints xy: [(2.58,-0.01), (4.87,-0.04), (6.82,-0.06), (8.38,-0.08), (9.52,-0.10), (10.27,-0.12), (10.66,-0.12), (10.80,-0.12), (10.86,-0.12), (10.93,-0.13)]\nOption D\n  waypoints xy: [(13.77,-0.02), (27.55,-0.05), (41.33,-0.09), (55.17,-0.14), (69.15,-0.19), (83.19,-0.22), (97.18,-0.19), (111.14,-0.04), (125.10,0.31), (139.02,0.94)]\nOption E\n  waypoints xy: [(4.37,-0.03), (9.01,-0.09), (13.89,-0.17), (18.98,-0.30), (24.23,-0.48), (29.62,-0.71), (35.10,-0.99), (40.66,-1.32), (46.26,-1.70), (51.86,-2.13)]\nOption F\n  waypoints xy: [(6.68,-0.03), (13.40,-0.12), (20.14,-0.26), (26.89,-0.46), (33.66,-0.71), (40.44,-0.99), (47.22,-1.30), (54.00,-1.63), (60.79,-1.97), (67.58,-2.32)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.175985638450684,"cv_gap":19.637}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/715c94054aa04562ce283a1863d1956a-031/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/715c94054aa04562ce283a1863d1956a-031/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/715c94054aa04562ce283a1863d1956a-031/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 7.611 m/s at x-direction and -0.022 m/s at y-direction. The ego vehicle's current acceleration is -0.353 m/s^2 at x-direction and 0.020 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::715c94054aa04562ce283a1863d1956a-031"}},"extra_info":{"index":315,"token":"waymo_e2e::715c94054aa04562ce283a1863d1956a-031","id":"waymo_e2e::715c94054aa04562ce283a1863d1956a-031","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\nOption B\n  waypoints xy: [(3.90,-0.00), (7.74,-0.01), (11.54,-0.01), (15.30,-0.03), (19.05,-0.04), (22.78,-0.06), (26.54,-0.09), (30.32,-0.12), (34.14,-0.14), (37.96,-0.17)]\nOption C\n  waypoints xy: [(13.52,0.07), (27.09,0.27), (40.74,0.60), (54.45,1.03), (68.25,1.58), (82.12,2.19), (96.05,2.84), (110.00,3.47), (123.95,4.11), (137.89,4.76)]\nOption D\n  waypoints xy: [(6.75,0.04), (13.48,0.18), (20.21,0.45), (26.93,0.79), (33.65,1.12), (40.37,1.42), (47.08,1.65), (53.80,1.81), (60.54,1.90), (67.31,1.93)]\nOption E\n  waypoints xy: [(0.22,-0.02), (0.58,-0.06), (1.19,-0.19), (2.08,-0.47), (3.23,-1.03), (4.48,-2.01), (5.64,-3.51), (6.58,-5.53), (7.32,-8.02), (7.95,-10.95)]\nOption F\n  waypoints xy: [(3.51,0.00), (6.58,0.02), (9.15,0.03), (11.13,0.04), (12.45,0.05), (13.14,0.06), (13.37,0.06), (13.41,0.06), (13.43,0.06), (13.51,0.06)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.611187725133631,"cv_gap":24.278}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/c37e747b8b4db17e9937f91be2e994fa-227/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c37e747b8b4db17e9937f91be2e994fa-227/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c37e747b8b4db17e9937f91be2e994fa-227/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 11.545 m/s at x-direction and -0.026 m/s at y-direction. The ego vehicle's current acceleration is -0.244 m/s^2 at x-direction and -0.027 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c37e747b8b4db17e9937f91be2e994fa-227"}},"extra_info":{"index":316,"token":"waymo_e2e::c37e747b8b4db17e9937f91be2e994fa-227","id":"waymo_e2e::c37e747b8b4db17e9937f91be2e994fa-227","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.96,0.58), (8.03,1.87), (12.18,3.75), (16.45,6.05), (20.88,8.63), (25.45,11.41), (30.14,14.33), (34.91,17.34), (39.74,20.42), (44.59,23.55)]\nOption B\n  waypoints xy: [(3.12,0.75), (6.46,2.43), (9.75,5.12), (12.69,8.80), (15.56,13.07), (18.63,17.64), (21.90,22.44), (25.34,27.41), (28.92,32.46), (32.63,37.56)]\nOption C\n  waypoints xy: [(0.65,0.00), (1.44,0.00), (2.40,0.01), (3.54,0.03), (4.91,0.10), (6.49,0.31), (8.25,0.76), (10.07,1.57), (11.84,2.79), (13.44,4.43)]\nOption D\n  waypoints xy: [(5.28,-0.11), (10.58,-0.42), (15.84,-0.93), (21.02,-1.66), (26.08,-2.65), (30.98,-3.94), (35.69,-5.51), (40.20,-7.35), (44.53,-9.46), (48.67,-11.83)]\nOption E\n  waypoints xy: [(0.16,-0.00), (0.44,-0.00), (0.83,-0.00), (1.32,-0.00), (1.81,-0.00), (2.13,-0.00), (2.41,-0.00), (2.72,-0.00), (3.14,-0.00), (3.68,-0.00)]\nOption F\n  waypoints xy: [(5.69,-0.02), (11.40,-0.05), (17.14,-0.08), (22.92,-0.12), (28.72,-0.16), (34.55,-0.19), (40.40,-0.21), (46.26,-0.23), (52.11,-0.25), (57.96,-0.26)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":11.54537047329912,"cv_gap":13.649}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/d72caf20cf993a736f9b0de8a847f29c-155/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d72caf20cf993a736f9b0de8a847f29c-155/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d72caf20cf993a736f9b0de8a847f29c-155/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.032 m/s at x-direction and -0.017 m/s at y-direction. The ego vehicle's current acceleration is -0.379 m/s^2 at x-direction and 0.003 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::d72caf20cf993a736f9b0de8a847f29c-155"}},"extra_info":{"index":317,"token":"waymo_e2e::d72caf20cf993a736f9b0de8a847f29c-155","id":"waymo_e2e::d72caf20cf993a736f9b0de8a847f29c-155","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.59,-0.02), (9.11,-0.07), (13.55,-0.13), (17.88,-0.21), (22.06,-0.29), (26.05,-0.38), (29.78,-0.48), (33.22,-0.58), (36.38,-0.69), (39.26,-0.78)]\nOption B\n  waypoints xy: [(3.50,0.12), (7.36,0.39), (11.48,0.86), (15.76,1.48), (20.11,2.26), (24.59,3.17), (29.17,4.23), (33.75,5.38), (38.37,6.66), (43.09,8.08)]\nOption C\n  waypoints xy: [(5.89,-0.00), (11.72,0.00), (17.41,0.01), (22.94,0.02), (28.32,0.04), (33.56,0.06), (38.63,0.07), (43.53,0.08), (48.24,0.09), (52.75,0.09)]\nOption D\n  waypoints xy: [(5.67,-0.01), (11.32,-0.01), (16.97,-0.01), (22.61,-0.01), (28.25,-0.01), (33.89,-0.01), (39.52,-0.02), (45.14,-0.02), (50.76,-0.01), (56.36,0.00)]\nOption E\n  waypoints xy: [(1.90,-0.00), (3.88,-0.00), (5.93,0.00), (8.03,-0.00), (10.16,-0.01), (12.28,-0.02), (14.34,-0.04), (16.34,-0.06), (18.26,-0.08), (20.09,-0.09)]\nOption F\n  waypoints xy: [(1.97,0.07), (3.43,0.16), (4.42,0.23), (5.12,0.29), (5.62,0.34), (5.94,0.37), (6.15,0.39), (6.32,0.41), (6.48,0.43), (6.66,0.44)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.032249268978734,"cv_gap":14.176}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"tIdPVPv6iy","cam_id":"4_resize","sample_timestamps":["000000000795_000300000000","000000000795_000800000000","000000000796_000300000000","000000000796_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000796_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"tIdPVPv6iy","cam_id":"2","sample_timestamps":["000000000795_000300000000","000000000795_000800000000","000000000796_000300000000","000000000796_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000796_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"tIdPVPv6iy","cam_id":"7","sample_timestamps":["000000000795_000300000000","000000000795_000800000000","000000000796_000300000000","000000000796_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000796_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn left with a constant speed**. The ego vehicle's current velocity is 3.000 m/s at x-direction and -0.700 m/s at y-direction. The ego vehicle's current acceleration is 0.400 m/s^2 at x-direction and 0.900 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"tIdPVPv6iy"}},"extra_info":{"index":318,"token":"tIdPVPv6iy","id":"tIdPVPv6iy","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.37,-0.41), (4.92,-1.04), (7.66,-1.79), (10.57,-2.60), (13.61,-3.47), (16.77,-4.39), (19.99,-5.33), (23.35,-6.32), (26.86,-7.35), (30.51,-8.43)]\nOption B\n  waypoints xy: [(0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.11,0.00), (0.57,0.00)]\nOption C\n  waypoints xy: [(4.61,-0.01), (8.97,-0.02), (13.05,-0.03), (16.85,-0.04), (20.30,-0.05), (23.37,-0.05), (26.06,-0.05), (28.36,-0.05), (30.23,-0.04), (31.68,-0.04)]\nOption D\n  waypoints xy: [(1.55,-0.09), (3.11,-0.28), (4.67,-0.55), (6.20,-0.89), (7.70,-1.28), (9.16,-1.70), (10.60,-2.14), (12.01,-2.61), (13.40,-3.09), (14.77,-3.57)]\nOption E\n  waypoints xy: [(5.41,-0.01), (10.80,-0.01), (16.17,-0.01), (21.46,0.00), (26.68,0.01), (31.88,0.03), (37.08,0.04), (42.29,0.08), (47.48,0.13), (52.64,0.18)]\nOption F\n  waypoints xy: [(2.27,0.41), (4.58,1.22), (6.96,2.40), (9.44,3.89), (12.02,5.64), (14.73,7.59), (17.57,9.70), (20.56,11.93), (23.67,14.26), (26.90,16.65)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.0805843601498726,"cv_gap":28.013}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"JZD4SSaRMT","cam_id":"4_resize","sample_timestamps":["000000017841_000000000000","000000017841_000500000000","000000017842_000000000000","000000017842_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000017842_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JZD4SSaRMT","cam_id":"2","sample_timestamps":["000000017841_000000000000","000000017841_000500000000","000000017842_000000000000","000000017842_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000017842_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JZD4SSaRMT","cam_id":"7","sample_timestamps":["000000017841_000000000000","000000017841_000500000000","000000017842_000000000000","000000017842_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000017842_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.800 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.400 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"JZD4SSaRMT"}},"extra_info":{"index":319,"token":"JZD4SSaRMT","id":"JZD4SSaRMT","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.58,-0.05), (9.33,-0.13), (14.10,-0.17), (18.84,-0.18), (23.49,-0.19), (27.94,-0.21), (32.19,-0.23), (36.15,-0.28), (39.75,-0.34), (43.04,-0.41)]\nOption B\n  waypoints xy: [(1.82,-0.01), (3.69,-0.02), (5.61,-0.03), (7.58,-0.05), (9.56,-0.08), (11.53,-0.10), (13.46,-0.13), (15.35,-0.17), (17.20,-0.21), (19.00,-0.26)]\nOption C\n  waypoints xy: [(1.76,0.01), (3.21,0.01), (4.32,0.02), (5.07,0.02), (5.49,0.03), (5.64,0.03), (5.66,0.03), (5.66,0.03), (5.68,0.03), (5.78,0.03)]\nOption D\n  waypoints xy: [(3.67,-0.01), (7.40,-0.01), (11.20,-0.01), (15.11,0.00), (19.13,0.02), (23.27,0.05), (27.51,0.07), (31.82,0.10), (36.15,0.13), (40.47,0.17)]\nOption E\n  waypoints xy: [(5.04,-0.04), (10.09,-0.12), (15.14,-0.23), (20.16,-0.37), (25.13,-0.52), (30.04,-0.68), (34.82,-0.84), (39.49,-1.00), (44.06,-1.14), (48.51,-1.28)]\nOption F\n  waypoints xy: [(5.35,0.00), (10.68,0.02), (15.93,0.06), (21.10,0.10), (26.16,0.14), (31.09,0.18), (35.90,0.21), (40.58,0.24), (45.15,0.26), (49.62,0.29)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.8013155617496426,"cv_gap":13.22}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/6119f0a9d1f677d1e30d989a974fa1d4-071/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6119f0a9d1f677d1e30d989a974fa1d4-071/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6119f0a9d1f677d1e30d989a974fa1d4-071/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.944 m/s at x-direction and 0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.473 m/s^2 at x-direction and -0.012 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::6119f0a9d1f677d1e30d989a974fa1d4-071"}},"extra_info":{"index":320,"token":"waymo_e2e::6119f0a9d1f677d1e30d989a974fa1d4-071","id":"waymo_e2e::6119f0a9d1f677d1e30d989a974fa1d4-071","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.48,0.01), (4.98,0.03), (7.50,0.06), (10.00,0.10), (12.50,0.13), (14.97,0.17), (17.41,0.20), (19.82,0.23), (22.19,0.26), (24.52,0.28)]\nOption B\n  waypoints xy: [(4.41,0.00), (8.89,0.09), (13.43,0.30), (18.00,0.62), (22.60,0.99), (27.24,1.37), (31.89,1.69), (36.55,1.90), (41.21,2.03), (45.89,2.14)]\nOption C\n  waypoints xy: [(6.32,-0.00), (12.61,-0.00), (18.86,-0.00), (25.06,0.00), (31.20,0.01), (37.28,0.03), (43.31,0.05), (49.30,0.08), (55.23,0.13), (61.09,0.20)]\nOption D\n  waypoints xy: [(1.86,-0.00), (3.55,-0.00), (5.08,-0.00), (6.42,-0.00), (7.56,-0.00), (8.50,-0.01), (9.24,-0.01), (9.80,-0.02), (10.20,-0.02), (10.51,-0.02)]\nOption E\n  waypoints xy: [(5.22,0.00), (10.58,0.02), (16.04,0.04), (21.62,0.07), (27.29,0.10), (33.04,0.13), (38.87,0.17), (44.76,0.20), (50.69,0.22), (56.67,0.24)]\nOption F\n  waypoints xy: [(5.35,-0.02), (10.76,-0.07), (16.21,-0.10), (21.69,-0.14), (27.22,-0.16), (32.78,-0.19), (38.37,-0.21), (43.99,-0.23), (49.63,-0.25), (55.28,-0.26)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.943709563825978,"cv_gap":13.622}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"S1nIsuMjM2","cam_id":"4_resize","sample_timestamps":["000000009326_000500000000","000000009327_000000000000","000000009327_000500000000","000000009328_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009328_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"S1nIsuMjM2","cam_id":"2","sample_timestamps":["000000009326_000500000000","000000009327_000000000000","000000009327_000500000000","000000009328_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009328_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"S1nIsuMjM2","cam_id":"7","sample_timestamps":["000000009326_000500000000","000000009327_000000000000","000000009327_000500000000","000000009328_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009328_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.100 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"S1nIsuMjM2"}},"extra_info":{"index":321,"token":"S1nIsuMjM2","id":"S1nIsuMjM2","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.71,0.00), (1.46,0.01), (2.26,0.02), (3.11,0.03), (3.96,0.05), (4.80,0.06), (5.60,0.07), (6.38,0.08), (7.15,0.09), (7.90,0.11)]\nOption B\n  waypoints xy: [(6.68,0.03), (13.33,0.06), (19.93,0.12), (26.52,0.19), (33.08,0.26), (39.63,0.34), (46.15,0.42), (52.64,0.51), (59.09,0.61), (65.50,0.74)]\nOption C\n  waypoints xy: [(0.09,0.00), (0.14,0.00), (0.20,0.00), (0.27,0.00), (0.33,0.00), (0.39,0.00), (0.44,0.00), (0.49,0.00), (0.54,0.01), (0.59,0.01)]\nOption D\n  waypoints xy: [(7.26,-0.01), (14.47,-0.03), (21.65,-0.07), (28.76,-0.13), (35.80,-0.21), (42.71,-0.30), (49.50,-0.41), (56.21,-0.52), (62.89,-0.61), (69.58,-0.70)]\nOption E\n  waypoints xy: [(3.15,-0.00), (6.80,-0.01), (10.94,-0.01), (15.58,-0.02), (20.65,-0.03), (26.03,-0.03), (31.62,-0.01), (37.39,0.00), (43.32,0.01), (49.35,0.02)]\nOption F\n  waypoints xy: [(8.45,-0.01), (16.94,-0.01), (25.45,-0.02), (33.96,-0.04), (42.47,-0.07), (50.98,-0.10), (59.48,-0.14), (67.97,-0.18), (76.42,-0.23), (84.84,-0.30)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.6,"cv_gap":7.368}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/38e0028c52d4b6fcff383c789c7d7b3d-030/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/38e0028c52d4b6fcff383c789c7d7b3d-030/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/38e0028c52d4b6fcff383c789c7d7b3d-030/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.547 m/s at x-direction and -0.009 m/s at y-direction. The ego vehicle's current acceleration is -0.391 m/s^2 at x-direction and 0.009 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::38e0028c52d4b6fcff383c789c7d7b3d-030"}},"extra_info":{"index":322,"token":"waymo_e2e::38e0028c52d4b6fcff383c789c7d7b3d-030","id":"waymo_e2e::38e0028c52d4b6fcff383c789c7d7b3d-030","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.84,0.03), (11.68,0.12), (17.55,0.26), (23.42,0.40), (29.29,0.55), (35.18,0.66), (41.02,0.74), (46.73,0.84), (52.21,0.97), (57.41,1.17)]\nOption B\n  waypoints xy: [(1.37,-0.34), (2.73,-1.01), (4.03,-2.03), (5.23,-3.41), (6.34,-5.12), (7.41,-7.11), (8.47,-9.34), (9.56,-11.77), (10.67,-14.37), (11.82,-17.08)]\nOption C\n  waypoints xy: [(-0.00,0.00), (0.00,0.00), (0.00,-0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00), (0.00,0.00)]\nOption D\n  waypoints xy: [(0.53,0.02), (1.36,0.11), (2.58,0.34), (4.18,0.89), (6.06,1.91), (8.02,3.54), (9.84,5.81), (11.39,8.69), (12.61,12.04), (13.48,15.78)]\nOption E\n  waypoints xy: [(4.51,-0.00), (8.63,-0.01), (12.25,-0.03), (15.28,-0.04), (17.63,-0.06), (19.27,-0.07), (20.19,-0.08), (20.58,-0.09), (20.70,-0.09), (20.75,-0.09)]\nOption F\n  waypoints xy: [(4.73,-0.00), (9.48,0.00), (14.24,-0.00), (19.02,-0.01), (23.81,-0.02), (28.61,-0.04), (33.42,-0.08), (38.22,-0.13), (43.00,-0.17), (47.75,-0.22)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.546805226011363,"cv_gap":27.059}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/0b20898674e947547e253872f2a633d4-199/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/0b20898674e947547e253872f2a633d4-199/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/0b20898674e947547e253872f2a633d4-199/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 3.526 m/s at x-direction and 0.023 m/s at y-direction. The ego vehicle's current acceleration is 0.228 m/s^2 at x-direction and -0.038 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0b20898674e947547e253872f2a633d4-199"}},"extra_info":{"index":323,"token":"waymo_e2e::0b20898674e947547e253872f2a633d4-199","id":"waymo_e2e::0b20898674e947547e253872f2a633d4-199","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.98,-0.02), (5.87,-0.04), (8.61,-0.07), (11.19,-0.11), (13.59,-0.17), (15.80,-0.25), (17.79,-0.36), (19.58,-0.47), (21.15,-0.57), (22.51,-0.67)]\nOption B\n  waypoints xy: [(1.79,-0.28), (3.58,-0.91), (5.28,-1.99), (6.75,-3.53), (7.91,-5.49), (8.76,-7.81), (9.38,-10.44), (9.89,-13.33), (10.35,-16.46), (10.79,-19.78)]\nOption C\n  waypoints xy: [(0.82,-0.00), (2.17,-0.00), (3.84,0.00), (5.75,0.01), (7.99,0.02), (10.54,0.03), (13.30,0.04), (16.22,0.05), (19.30,0.08), (22.53,0.14)]\nOption D\n  waypoints xy: [(12.75,-0.02), (25.51,-0.07), (38.31,-0.15), (51.13,-0.26), (63.98,-0.39), (76.86,-0.56), (89.76,-0.78), (102.67,-1.04), (115.59,-1.33), (128.51,-1.65)]\nOption E\n  waypoints xy: [(1.77,0.01), (3.54,0.02), (5.32,0.05), (7.13,0.08), (8.95,0.12), (10.76,0.16), (12.53,0.21), (14.26,0.26), (15.97,0.31), (17.65,0.36)]\nOption F\n  waypoints xy: [(5.97,0.11), (11.92,0.42), (17.83,0.91), (23.72,1.56), (29.58,2.35), (35.40,3.24), (41.17,4.22), (46.88,5.27), (52.50,6.39), (58.03,7.59)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.5264518431823593,"cv_gap":20.653}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/edfca8046ba8042ae69363693c6c94c7-137/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/edfca8046ba8042ae69363693c6c94c7-137/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/edfca8046ba8042ae69363693c6c94c7-137/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.405 m/s at x-direction and 0.008 m/s at y-direction. The ego vehicle's current acceleration is -0.128 m/s^2 at x-direction and -0.035 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::edfca8046ba8042ae69363693c6c94c7-137"}},"extra_info":{"index":324,"token":"waymo_e2e::edfca8046ba8042ae69363693c6c94c7-137","id":"waymo_e2e::edfca8046ba8042ae69363693c6c94c7-137","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.51,-0.70), (4.99,-2.18), (7.36,-4.42), (9.66,-7.29), (12.05,-10.66), (14.60,-14.45), (17.35,-18.60), (20.27,-23.03), (23.31,-27.68), (26.45,-32.49)]\nOption B\n  waypoints xy: [(4.27,0.00), (8.56,0.02), (12.87,0.05), (17.20,0.10), (21.53,0.16), (25.86,0.21), (30.19,0.26), (34.53,0.30), (38.86,0.34), (43.19,0.39)]\nOption C\n  waypoints xy: [(5.22,-0.03), (10.42,-0.10), (15.58,-0.22), (20.74,-0.35), (25.93,-0.45), (31.12,-0.46), (36.31,-0.38), (41.51,-0.23), (46.71,-0.03), (51.83,0.19)]\nOption D\n  waypoints xy: [(1.70,-0.00), (3.41,0.02), (5.13,0.01), (6.86,0.01), (8.60,0.01), (10.35,0.01), (12.07,-0.01), (13.73,-0.04), (15.33,-0.05), (16.85,-0.08)]\nOption E\n  waypoints xy: [(6.38,-0.04), (12.75,-0.14), (19.09,-0.29), (25.41,-0.45), (31.71,-0.66), (37.96,-0.97), (44.05,-1.39), (49.84,-1.88), (55.20,-2.39), (60.09,-2.90)]\nOption F\n  waypoints xy: [(1.74,-0.00), (3.24,-0.00), (4.50,-0.01), (5.52,-0.01), (6.34,-0.02), (6.99,-0.02), (7.54,-0.02), (8.04,-0.02), (8.58,-0.02), (9.17,-0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4045569984589905,"cv_gap":8.235}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/b5ecbce156107d4e77da21631df2fc77-118/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b5ecbce156107d4e77da21631df2fc77-118/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b5ecbce156107d4e77da21631df2fc77-118/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.305 m/s at x-direction and -0.014 m/s at y-direction. The ego vehicle's current acceleration is -0.388 m/s^2 at x-direction and -0.012 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b5ecbce156107d4e77da21631df2fc77-118"}},"extra_info":{"index":325,"token":"waymo_e2e::b5ecbce156107d4e77da21631df2fc77-118","id":"waymo_e2e::b5ecbce156107d4e77da21631df2fc77-118","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(11.96,0.01), (23.76,0.04), (35.36,0.09), (46.74,0.14), (57.84,0.19), (68.63,0.24), (79.15,0.27), (89.42,0.28), (99.51,0.29), (109.46,0.29)]\nOption B\n  waypoints xy: [(3.20,-0.01), (6.39,-0.02), (9.55,-0.04), (12.67,-0.06), (15.77,-0.08), (18.87,-0.10), (21.96,-0.12), (25.06,-0.14), (28.17,-0.17), (31.30,-0.21)]\nOption C\n  waypoints xy: [(5.80,0.00), (11.58,0.01), (17.35,0.02), (23.09,0.04), (28.78,0.06), (34.41,0.08), (39.97,0.09), (45.46,0.10), (50.89,0.11), (56.26,0.12)]\nOption D\n  waypoints xy: [(5.16,-0.01), (10.29,-0.05), (15.35,-0.10), (20.43,-0.13), (25.58,-0.15), (30.77,-0.14), (35.89,-0.12), (40.89,-0.12), (45.81,-0.14), (50.64,-0.17)]\nOption E\n  waypoints xy: [(2.89,-0.01), (5.40,-0.01), (7.44,-0.02), (8.98,-0.02), (10.01,-0.02), (10.58,-0.03), (10.77,-0.03), (10.80,-0.03), (10.81,-0.03), (10.87,-0.03)]\nOption F\n  waypoints xy: [(4.47,0.00), (8.97,0.01), (13.46,0.02), (17.95,0.04), (22.41,0.08), (26.83,0.12), (31.18,0.17), (35.42,0.21), (39.53,0.25), (43.49,0.30)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.305334677826032,"cv_gap":20.71}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"aNnZd7oTMy","cam_id":"4_resize","sample_timestamps":["000000009538_000750000000","000000009539_000000000000","000000009539_000250000000","000000009539_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009539_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"aNnZd7oTMy","cam_id":"2","sample_timestamps":["000000009538_000000000000","000000009538_000500000000","000000009539_000000000000","000000009539_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009539_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"aNnZd7oTMy","cam_id":"7","sample_timestamps":["000000009538_000000000000","000000009538_000500000000","000000009539_000000000000","000000009539_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009539_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"aNnZd7oTMy"}},"extra_info":{"index":326,"token":"aNnZd7oTMy","id":"aNnZd7oTMy","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.34,0.00), (0.61,0.01), (0.82,0.01), (0.98,0.02), (1.11,0.02), (1.20,0.02), (1.26,0.02), (1.30,0.02), (1.33,0.03), (1.36,0.03)]\nOption B\n  waypoints xy: [(4.13,-0.06), (8.08,-0.27), (11.82,-0.52), (15.45,-0.64), (19.07,-0.59), (22.74,-0.39), (26.50,-0.14), (30.34,0.19), (34.28,0.69), (38.30,1.46)]\nOption C\n  waypoints xy: [(3.16,-0.02), (6.31,-0.04), (9.46,-0.07), (12.63,-0.12), (15.79,-0.17), (18.86,-0.20), (21.70,-0.20), (24.30,-0.22), (26.80,-0.27), (29.07,-0.35)]\nOption D\n  waypoints xy: [(2.89,-0.01), (5.90,-0.05), (9.04,-0.09), (12.32,-0.16), (15.75,-0.24), (19.31,-0.34), (22.96,-0.45), (26.69,-0.57), (30.48,-0.69), (34.28,-0.82)]\nOption E\n  waypoints xy: [(0.75,-0.00), (1.50,-0.01), (2.24,-0.01), (2.98,-0.02), (3.73,-0.02), (4.48,-0.03), (5.24,-0.05), (6.01,-0.06), (6.79,-0.08), (7.59,-0.10)]\nOption F\n  waypoints xy: [(3.61,-0.01), (7.10,-0.03), (10.43,-0.05), (13.60,-0.07), (16.69,-0.09), (19.76,-0.11), (22.90,-0.13), (26.15,-0.14), (29.51,-0.14), (32.96,-0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5,"cv_gap":6.011}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"K0nLP1YoiE","cam_id":"4_resize","sample_timestamps":["000000017837_000750000000","000000017838_000000000000","000000017838_000250000000","000000017838_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000017838_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"K0nLP1YoiE","cam_id":"2","sample_timestamps":["000000017837_000000000000","000000017837_000500000000","000000017838_000000000000","000000017838_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000017838_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"K0nLP1YoiE","cam_id":"7","sample_timestamps":["000000017837_000000000000","000000017837_000500000000","000000017838_000000000000","000000017838_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000017838_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is 0.800 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"K0nLP1YoiE"}},"extra_info":{"index":327,"token":"K0nLP1YoiE","id":"K0nLP1YoiE","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.25,0.00), (4.54,0.01), (6.85,0.02), (9.20,0.03), (11.57,0.04), (13.98,0.04), (16.41,0.05), (18.83,0.05), (21.18,0.06), (23.50,0.06)]\nOption B\n  waypoints xy: [(4.66,-0.03), (9.32,-0.12), (13.95,-0.25), (18.58,-0.41), (23.19,-0.61), (27.79,-0.83), (32.42,-1.04), (37.09,-1.26), (41.80,-1.50), (46.52,-1.76)]\nOption C\n  waypoints xy: [(4.83,-0.04), (9.71,-0.12), (14.62,-0.24), (19.54,-0.39), (24.49,-0.56), (29.46,-0.71), (34.42,-0.85), (39.39,-0.97), (44.34,-1.06), (49.28,-1.14)]\nOption D\n  waypoints xy: [(7.63,0.03), (15.25,0.11), (22.87,0.24), (30.49,0.43), (38.10,0.67), (45.71,0.98), (53.32,1.33), (60.92,1.70), (68.52,2.08), (76.12,2.46)]\nOption E\n  waypoints xy: [(4.72,0.00), (9.58,0.01), (14.56,0.01), (19.64,0.03), (24.80,0.08), (30.00,0.18), (35.24,0.31), (40.48,0.51), (45.73,0.77), (50.97,1.08)]\nOption F\n  waypoints xy: [(1.67,0.11), (3.26,0.32), (4.75,0.62), (6.14,0.98), (7.42,1.39), (8.61,1.83), (9.71,2.31), (10.74,2.82), (11.71,3.37), (12.62,3.96)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.7,"cv_gap":12.43}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/43fe05892988e26b99aef92b4ec32df0-018/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/43fe05892988e26b99aef92b4ec32df0-018/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/43fe05892988e26b99aef92b4ec32df0-018/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.001 m/s at x-direction and -0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.271 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::43fe05892988e26b99aef92b4ec32df0-018"}},"extra_info":{"index":328,"token":"waymo_e2e::43fe05892988e26b99aef92b4ec32df0-018","id":"waymo_e2e::43fe05892988e26b99aef92b4ec32df0-018","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.79,-0.11), (7.91,-0.31), (12.34,-0.60), (17.07,-0.98), (22.06,-1.43), (27.29,-1.97), (32.71,-2.55), (38.28,-3.19), (43.98,-3.86), (49.78,-4.52)]\nOption B\n  waypoints xy: [(1.53,0.00), (3.07,0.01), (4.65,0.01), (6.20,0.02), (7.71,0.03), (9.17,0.04), (10.62,0.06), (12.09,0.07), (13.60,0.10), (15.13,0.14)]\nOption C\n  waypoints xy: [(3.44,-0.20), (7.08,-0.51), (10.88,-0.90), (14.80,-1.33), (18.70,-1.78), (22.45,-2.23), (26.01,-2.66), (29.39,-3.07), (32.61,-3.44), (35.67,-3.80)]\nOption D\n  waypoints xy: [(6.28,0.00), (12.20,-0.06), (17.83,-0.06), (23.15,-0.19), (28.15,-0.30), (32.82,-0.52), (37.09,-0.71), (40.94,-0.98), (44.44,-1.22), (47.64,-1.45)]\nOption E\n  waypoints xy: [(12.76,0.00), (25.48,0.01), (38.15,0.04), (50.78,0.06), (63.36,0.09), (75.93,0.12), (88.49,0.16), (101.05,0.21), (113.61,0.27), (126.16,0.34)]\nOption F\n  waypoints xy: [(1.26,-0.00), (2.21,-0.00), (2.91,-0.01), (3.40,-0.01), (3.72,-0.01), (3.88,-0.01), (3.89,-0.01), (3.89,-0.01), (3.89,-0.01), (3.89,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.0007987043259505,"cv_gap":11.04}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/09459557d8b2cbcf65607f171cb58541-080/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/09459557d8b2cbcf65607f171cb58541-080/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/09459557d8b2cbcf65607f171cb58541-080/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.201 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.274 m/s^2 at x-direction and -0.070 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::09459557d8b2cbcf65607f171cb58541-080"}},"extra_info":{"index":329,"token":"waymo_e2e::09459557d8b2cbcf65607f171cb58541-080","id":"waymo_e2e::09459557d8b2cbcf65607f171cb58541-080","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.89,-0.01), (9.77,-0.02), (14.64,-0.02), (19.55,-0.03), (24.50,-0.02), (29.51,-0.00), (34.58,0.04), (39.71,0.11), (44.89,0.20), (50.10,0.30)]\nOption B\n  waypoints xy: [(1.56,-0.12), (2.97,-0.33), (4.11,-0.58), (4.92,-0.78), (5.40,-0.91), (5.63,-0.96), (5.72,-0.98), (5.77,-0.99), (5.84,-1.01), (5.98,-1.05)]\nOption C\n  waypoints xy: [(4.41,0.19), (8.91,0.61), (13.50,1.20), (18.19,1.93), (23.02,2.79), (27.96,3.76), (33.03,4.85), (38.17,6.04), (43.36,7.33), (48.56,8.67)]\nOption D\n  waypoints xy: [(1.63,0.00), (3.23,0.00), (4.83,0.00), (6.42,0.00), (8.02,0.02), (9.62,0.04), (11.23,0.06), (12.82,0.09), (14.39,0.15), (15.94,0.20)]\nOption E\n  waypoints xy: [(5.52,0.01), (11.21,0.02), (17.04,0.05), (23.01,0.10), (29.10,0.19), (35.28,0.32), (41.53,0.48), (47.82,0.70), (54.13,0.95), (60.44,1.24)]\nOption F\n  waypoints xy: [(5.71,0.01), (11.71,0.04), (17.97,0.08), (24.48,0.13), (31.19,0.19), (38.08,0.24), (45.12,0.28), (52.29,0.31), (59.56,0.34), (66.92,0.37)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.201246879577748,"cv_gap":10.532}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/61cd64a69af1d677c4ed5b337b7fd421-079/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/61cd64a69af1d677c4ed5b337b7fd421-079/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/61cd64a69af1d677c4ed5b337b7fd421-079/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.382 m/s at x-direction and -0.021 m/s at y-direction. The ego vehicle's current acceleration is -0.178 m/s^2 at x-direction and 0.069 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::61cd64a69af1d677c4ed5b337b7fd421-079"}},"extra_info":{"index":330,"token":"waymo_e2e::61cd64a69af1d677c4ed5b337b7fd421-079","id":"waymo_e2e::61cd64a69af1d677c4ed5b337b7fd421-079","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.03,0.00), (8.02,0.01), (11.96,0.02), (15.83,0.04), (19.62,0.06), (23.31,0.07), (26.86,0.08), (30.25,0.09), (33.45,0.09), (36.45,0.08)]\nOption B\n  waypoints xy: [(1.44,0.04), (2.74,0.15), (3.88,0.31), (4.84,0.48), (5.60,0.64), (6.14,0.76), (6.48,0.84), (6.68,0.88), (6.79,0.91), (6.90,0.93)]\nOption C\n  waypoints xy: [(2.78,-0.01), (6.09,-0.02), (9.85,-0.03), (14.04,-0.04), (18.66,-0.06), (23.66,-0.09), (29.06,-0.16), (34.78,-0.27), (40.75,-0.41), (46.96,-0.57)]\nOption D\n  waypoints xy: [(1.71,-0.01), (3.41,-0.02), (5.08,-0.03), (6.74,-0.05), (8.41,-0.08), (10.08,-0.10), (11.76,-0.13), (13.44,-0.15), (15.13,-0.17), (16.80,-0.18)]\nOption E\n  waypoints xy: [(5.81,0.00), (11.52,0.01), (17.13,0.14), (22.53,0.38), (27.67,0.73), (32.59,1.06), (37.40,1.34), (42.02,1.61), (46.51,1.78), (50.85,1.93)]\nOption F\n  waypoints xy: [(6.78,-0.00), (13.59,0.00), (20.45,0.03), (27.35,0.07), (34.30,0.14), (41.27,0.20), (48.24,0.28), (55.19,0.35), (62.13,0.43), (69.05,0.54)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.382250635923141,"cv_gap":10.06}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-039/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-039/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-039/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 13.641 m/s at x-direction and 0.022 m/s at y-direction. The ego vehicle's current acceleration is -0.459 m/s^2 at x-direction and -0.074 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-039"}},"extra_info":{"index":331,"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-039","id":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-039","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.12,-0.06), (2.21,-0.24), (3.27,-0.56), (4.26,-1.02), (5.14,-1.66), (5.90,-2.44), (6.50,-3.34), (6.95,-4.31), (7.30,-5.34), (7.56,-6.40)]\nOption B\n  waypoints xy: [(6.82,0.00), (13.66,0.01), (20.49,0.03), (27.32,0.05), (34.12,0.07), (40.92,0.09), (47.72,0.11), (54.53,0.13), (61.33,0.15), (68.10,0.16)]\nOption C\n  waypoints xy: [(2.08,-0.56), (4.15,-1.60), (6.19,-3.10), (8.22,-4.97), (10.29,-7.11), (12.43,-9.48), (14.66,-12.04), (16.98,-14.74), (19.36,-17.54), (21.80,-20.41)]\nOption D\n  waypoints xy: [(2.00,-0.50), (4.11,-1.37), (6.34,-2.55), (8.72,-3.97), (11.24,-5.57), (13.89,-7.32), (16.68,-9.20), (19.59,-11.16), (22.59,-13.19), (25.64,-15.25)]\nOption E\n  waypoints xy: [(7.93,-0.06), (15.82,-0.26), (23.69,-0.58), (31.56,-1.00), (39.43,-1.53), (47.35,-2.19), (55.38,-2.94), (63.51,-3.84), (71.72,-4.87), (79.94,-5.99)]\nOption F\n  waypoints xy: [(5.13,0.01), (9.97,0.02), (14.42,0.03), (18.37,0.05), (21.74,0.06), (24.49,0.07), (26.62,0.07), (28.15,0.08), (29.17,0.08), (29.82,0.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":13.64052562198598,"cv_gap":38.68}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-139/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-139/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-139/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 10.649 m/s at x-direction and -0.053 m/s at y-direction. The ego vehicle's current acceleration is -0.477 m/s^2 at x-direction and 0.269 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-139"}},"extra_info":{"index":332,"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-139","id":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-139","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.38,-0.09), (3.05,-0.38), (4.90,-1.04), (6.78,-2.23), (8.48,-4.06), (9.79,-6.53), (10.63,-9.60), (11.14,-13.16), (11.51,-17.18), (11.82,-21.61)]\nOption B\n  waypoints xy: [(4.40,0.09), (8.51,0.26), (12.23,0.47), (15.48,0.69), (18.24,0.92), (20.48,1.12), (22.19,1.28), (23.40,1.41), (24.18,1.49), (24.59,1.53)]\nOption C\n  waypoints xy: [(5.38,-0.01), (10.75,-0.02), (16.11,-0.05), (21.45,-0.07), (26.77,-0.10), (32.08,-0.13), (37.37,-0.15), (42.66,-0.17), (47.94,-0.17), (53.20,-0.18)]\nOption D\n  waypoints xy: [(0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.01,-0.00), (0.11,-0.00), (0.45,-0.00), (1.15,-0.00), (2.23,-0.01), (3.68,-0.03)]\nOption E\n  waypoints xy: [(1.83,-0.37), (3.70,-1.07), (5.59,-2.10), (7.50,-3.39), (9.45,-4.90), (11.46,-6.58), (13.52,-8.39), (15.64,-10.30), (17.81,-12.28), (20.03,-14.31)]\nOption F\n  waypoints xy: [(12.80,0.03), (25.59,0.09), (38.42,0.18), (51.34,0.29), (64.32,0.44), (77.34,0.64), (90.34,0.92), (103.27,1.25), (116.15,1.63), (128.98,2.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.649212749756982,"cv_gap":30.069}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3a0614e01e50c8ab796043e6dd266e77-200/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3a0614e01e50c8ab796043e6dd266e77-200/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3a0614e01e50c8ab796043e6dd266e77-200/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 5.270 m/s at x-direction and -0.008 m/s at y-direction. The ego vehicle's current acceleration is 0.251 m/s^2 at x-direction and 0.320 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3a0614e01e50c8ab796043e6dd266e77-200"}},"extra_info":{"index":333,"token":"waymo_e2e::3a0614e01e50c8ab796043e6dd266e77-200","id":"waymo_e2e::3a0614e01e50c8ab796043e6dd266e77-200","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.72,0.02), (11.46,0.08), (17.19,0.17), (22.91,0.27), (28.61,0.39), (34.27,0.50), (39.87,0.59), (45.43,0.66), (50.92,0.71), (56.39,0.74)]\nOption B\n  waypoints xy: [(2.77,0.37), (5.56,1.23), (8.25,2.63), (10.74,4.57), (12.94,7.05), (14.80,10.02), (16.35,13.41), (17.67,17.15), (18.88,21.19), (20.06,25.49)]\nOption C\n  waypoints xy: [(5.57,-0.01), (11.16,-0.03), (16.77,-0.06), (22.39,-0.09), (28.02,-0.12), (33.65,-0.15), (39.30,-0.18), (44.97,-0.20), (50.66,-0.22), (56.38,-0.25)]\nOption D\n  waypoints xy: [(1.92,0.00), (4.21,0.01), (6.86,0.01), (9.85,0.02), (13.12,0.03), (16.64,0.05), (20.38,0.08), (24.27,0.12), (28.30,0.17), (32.44,0.24)]\nOption E\n  waypoints xy: [(2.58,-0.00), (5.19,-0.00), (7.84,0.00), (10.53,0.02), (13.25,0.04), (15.98,0.06), (18.69,0.09), (21.38,0.11), (24.03,0.13), (26.67,0.14)]\nOption F\n  waypoints xy: [(1.56,-0.00), (3.58,-0.01), (6.06,-0.02), (8.96,-0.03), (12.23,-0.05), (15.81,-0.08), (19.67,-0.11), (23.77,-0.14), (28.04,-0.18), (32.45,-0.23)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.269819554509344,"cv_gap":27.848}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/9be8ec0b20b262b6fede7700cc700c85-096/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/9be8ec0b20b262b6fede7700cc700c85-096/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/9be8ec0b20b262b6fede7700cc700c85-096/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.838 m/s at x-direction and -0.005 m/s at y-direction. The ego vehicle's current acceleration is -0.232 m/s^2 at x-direction and -0.066 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::9be8ec0b20b262b6fede7700cc700c85-096"}},"extra_info":{"index":334,"token":"waymo_e2e::9be8ec0b20b262b6fede7700cc700c85-096","id":"waymo_e2e::9be8ec0b20b262b6fede7700cc700c85-096","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.82,-0.01), (3.69,-0.02), (5.61,-0.03), (7.58,-0.05), (9.56,-0.08), (11.53,-0.10), (13.46,-0.13), (15.35,-0.17), (17.20,-0.21), (19.00,-0.26)]\nOption B\n  waypoints xy: [(5.08,0.02), (10.16,0.06), (15.22,0.11), (20.28,0.17), (25.35,0.23), (30.43,0.29), (35.51,0.36), (40.60,0.43), (45.68,0.50), (50.76,0.57)]\nOption C\n  waypoints xy: [(1.72,-0.02), (3.09,-0.04), (4.10,-0.06), (4.73,-0.08), (5.02,-0.09), (5.10,-0.09), (5.12,-0.09), (5.14,-0.09), (5.18,-0.09), (5.32,-0.10)]\nOption D\n  waypoints xy: [(5.90,-0.01), (11.57,-0.02), (16.94,-0.04), (21.99,-0.06), (26.65,-0.08), (30.92,-0.11), (34.81,-0.12), (38.33,-0.12), (41.50,-0.11), (44.37,-0.10)]\nOption E\n  waypoints xy: [(4.80,0.00), (9.65,0.02), (14.47,0.07), (19.26,0.14), (23.97,0.23), (28.50,0.33), (32.82,0.43), (37.04,0.52), (41.26,0.59), (45.53,0.64)]\nOption F\n  waypoints xy: [(7.96,-0.04), (15.92,-0.12), (23.88,-0.26), (31.85,-0.45), (39.81,-0.66), (47.76,-0.91), (55.70,-1.18), (63.61,-1.46), (71.50,-1.76), (79.36,-2.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.838130417559274,"cv_gap":14.23}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/a2b24fb57f1400d4f2873f4f66a8fc6f-101/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a2b24fb57f1400d4f2873f4f66a8fc6f-101/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/a2b24fb57f1400d4f2873f4f66a8fc6f-101/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.864 m/s at x-direction and -0.001 m/s at y-direction. The ego vehicle's current acceleration is -0.327 m/s^2 at x-direction and -0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::a2b24fb57f1400d4f2873f4f66a8fc6f-101"}},"extra_info":{"index":335,"token":"waymo_e2e::a2b24fb57f1400d4f2873f4f66a8fc6f-101","id":"waymo_e2e::a2b24fb57f1400d4f2873f4f66a8fc6f-101","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.88,-0.01), (13.78,-0.05), (20.70,-0.11), (27.66,-0.20), (34.66,-0.30), (41.71,-0.41), (48.79,-0.52), (55.89,-0.64), (62.99,-0.76), (70.07,-0.88)]\nOption B\n  waypoints xy: [(6.57,-0.01), (13.33,-0.03), (20.26,-0.06), (27.37,-0.10), (34.64,-0.15), (42.03,-0.21), (49.52,-0.28), (57.10,-0.34), (64.73,-0.40), (72.40,-0.46)]\nOption C\n  waypoints xy: [(5.67,-0.00), (11.21,-0.00), (16.59,-0.01), (21.79,-0.02), (26.82,-0.02), (31.67,-0.03), (36.34,-0.03), (40.86,-0.02), (45.24,0.00), (49.52,0.02)]\nOption D\n  waypoints xy: [(6.75,0.00), (13.51,-0.01), (20.27,-0.03), (27.04,-0.06), (33.82,-0.10), (40.62,-0.15), (47.44,-0.19), (54.30,-0.20), (61.19,-0.21), (68.11,-0.20)]\nOption E\n  waypoints xy: [(2.89,-0.01), (5.40,-0.01), (7.44,-0.02), (8.98,-0.02), (10.01,-0.02), (10.58,-0.03), (10.77,-0.03), (10.80,-0.03), (10.81,-0.03), (10.87,-0.03)]\nOption F\n  waypoints xy: [(2.91,-0.00), (5.80,-0.01), (8.70,-0.01), (11.62,-0.01), (14.56,-0.00), (17.52,-0.00), (20.49,0.00), (23.44,0.01), (26.37,0.02), (29.28,0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.863665129428192,"cv_gap":18.559}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"E573tqKD8r","cam_id":"4_resize","sample_timestamps":["000000001201_000700000000","000000001202_000200000000","000000001202_000700000000","000000001203_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001203_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"E573tqKD8r","cam_id":"2","sample_timestamps":["000000001201_000700000000","000000001202_000200000000","000000001202_000700000000","000000001203_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001203_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"E573tqKD8r","cam_id":"7","sample_timestamps":["000000001201_000700000000","000000001202_000200000000","000000001202_000700000000","000000001203_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001203_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with a constant speed**. The ego vehicle's current velocity is 2.100 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and 0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"E573tqKD8r"}},"extra_info":{"index":336,"token":"E573tqKD8r","id":"E573tqKD8r","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.51,-0.05), (9.25,-0.22), (14.18,-0.57), (19.22,-1.10), (24.35,-1.76), (29.62,-2.49), (35.05,-3.19), (40.67,-3.79), (46.41,-4.20), (52.21,-4.56)]\nOption B\n  waypoints xy: [(0.91,0.07), (1.80,0.30), (2.66,0.71), (3.50,1.32), (4.29,2.15), (5.03,3.17), (5.71,4.36), (6.36,5.66), (6.97,7.04), (7.56,8.47)]\nOption C\n  waypoints xy: [(0.97,-0.12), (2.19,-0.49), (3.55,-1.24), (4.89,-2.46), (5.93,-3.99), (6.55,-5.63), (6.87,-7.10), (7.05,-8.29), (7.20,-9.30), (7.34,-10.26)]\nOption D\n  waypoints xy: [(1.09,-0.03), (2.18,-0.09), (3.26,-0.20), (4.34,-0.32), (5.41,-0.47), (6.48,-0.64), (7.56,-0.83), (8.65,-1.05), (9.75,-1.32), (10.85,-1.64)]\nOption E\n  waypoints xy: [(4.50,0.01), (9.07,0.05), (13.68,0.11), (18.33,0.18), (23.01,0.24), (27.73,0.30), (32.46,0.34), (37.22,0.39), (41.99,0.42), (46.76,0.44)]\nOption F\n  waypoints xy: [(1.51,-0.54), (2.74,-1.38), (3.64,-2.32), (4.35,-3.29), (4.96,-4.24), (5.52,-5.23), (6.03,-6.28), (6.46,-7.36), (6.78,-8.46), (6.91,-9.61)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.1213203435596424,"cv_gap":9.846}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/1cedf70d27f8efaa2881587849d7134a-200/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1cedf70d27f8efaa2881587849d7134a-200/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/1cedf70d27f8efaa2881587849d7134a-200/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 6.734 m/s at x-direction and -0.037 m/s at y-direction. The ego vehicle's current acceleration is -0.058 m/s^2 at x-direction and 0.072 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::1cedf70d27f8efaa2881587849d7134a-200"}},"extra_info":{"index":337,"token":"waymo_e2e::1cedf70d27f8efaa2881587849d7134a-200","id":"waymo_e2e::1cedf70d27f8efaa2881587849d7134a-200","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.38,-0.01), (6.72,-0.01), (10.05,-0.02), (13.37,-0.04), (16.69,-0.05), (20.04,-0.05), (23.42,-0.04), (26.84,-0.01), (30.31,0.03), (33.82,0.06)]\nOption B\n  waypoints xy: [(0.00,0.00), (0.00,0.00), (0.00,-0.00), (0.00,0.00), (0.00,0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,0.00), (0.00,-0.00)]\nOption C\n  waypoints xy: [(2.19,-0.16), (4.55,-0.45), (7.06,-0.84), (9.75,-1.29), (12.60,-1.79), (15.59,-2.32), (18.69,-2.84), (21.86,-3.36), (25.08,-3.89), (28.32,-4.41)]\nOption D\n  waypoints xy: [(1.96,-0.58), (3.85,-1.68), (5.67,-3.24), (7.45,-5.18), (9.28,-7.42), (11.17,-9.88), (13.15,-12.51), (15.22,-15.27), (17.37,-18.12), (19.56,-21.02)]\nOption E\n  waypoints xy: [(8.35,0.06), (16.75,0.22), (25.19,0.45), (33.68,0.71), (42.21,0.96), (50.78,1.09), (59.39,1.04), (68.04,0.87), (76.71,0.75), (85.39,0.69)]\nOption F\n  waypoints xy: [(3.07,0.12), (6.15,0.47), (9.16,1.16), (12.02,2.26), (14.65,3.81), (16.99,5.82), (18.97,8.27), (20.55,11.11), (21.71,14.29), (22.51,17.76)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.733799693073789,"cv_gap":20.1}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"KUKHhyTMpm","cam_id":"4_resize","sample_timestamps":["000000007329_000200000000","000000007329_000700000000","000000007330_000200000000","000000007330_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007330_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"KUKHhyTMpm","cam_id":"2","sample_timestamps":["000000007329_000200000000","000000007329_000700000000","000000007330_000200000000","000000007330_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007330_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"KUKHhyTMpm","cam_id":"7","sample_timestamps":["000000007329_000100000000","000000007329_000600000000","000000007330_000100000000","000000007330_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007330_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 7.000 m/s at x-direction and -0.200 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"KUKHhyTMpm"}},"extra_info":{"index":338,"token":"KUKHhyTMpm","id":"KUKHhyTMpm","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.41,-0.04), (6.88,-0.12), (10.42,-0.23), (13.99,-0.37), (17.59,-0.51), (21.19,-0.64), (24.76,-0.75), (28.25,-0.81), (31.67,-0.83), (34.99,-0.83)]\nOption B\n  waypoints xy: [(6.76,0.01), (13.62,0.06), (20.58,0.10), (27.63,0.15), (34.77,0.21), (42.00,0.27), (49.29,0.32), (56.64,0.37), (64.03,0.42), (71.47,0.47)]\nOption C\n  waypoints xy: [(2.99,0.00), (5.92,0.00), (8.62,0.03), (10.83,0.05), (12.51,0.05), (13.78,-0.01), (14.85,-0.16), (15.87,-0.43), (16.86,-0.93), (17.84,-1.89)]\nOption D\n  waypoints xy: [(5.40,-0.00), (10.79,-0.01), (16.18,-0.03), (21.56,-0.04), (26.88,-0.03), (32.16,-0.02), (37.45,-0.01), (42.75,-0.01), (48.07,-0.01), (53.35,-0.04)]\nOption E\n  waypoints xy: [(1.37,-0.34), (2.67,-0.99), (3.84,-1.93), (4.87,-3.17), (5.73,-4.66), (6.48,-6.39), (7.17,-8.33), (7.85,-10.48), (8.54,-12.82), (9.27,-15.33)]\nOption F\n  waypoints xy: [(0.97,-0.12), (2.15,-0.41), (3.45,-0.97), (4.79,-1.89), (6.03,-3.24), (7.06,-5.00), (7.86,-7.15), (8.47,-9.65), (8.98,-12.44), (9.44,-15.50)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.002856560004639,"cv_gap":17.582}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Pgl2bY30hL","cam_id":"4_resize","sample_timestamps":["000000001552_000500000000","000000001553_000000000000","000000001553_000500000000","000000001554_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001554_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Pgl2bY30hL","cam_id":"2","sample_timestamps":["000000001552_000500000000","000000001553_000000000000","000000001553_000500000000","000000001554_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001554_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Pgl2bY30hL","cam_id":"7","sample_timestamps":["000000001552_000500000000","000000001553_000000000000","000000001553_000500000000","000000001554_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001554_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.400 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"Pgl2bY30hL"}},"extra_info":{"index":339,"token":"Pgl2bY30hL","id":"Pgl2bY30hL","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.19,-0.00), (12.60,0.01), (19.21,0.03), (26.01,0.06), (32.97,0.09), (40.08,0.12), (47.32,0.14), (54.63,0.16), (62.01,0.17), (69.43,0.18)]\nOption B\n  waypoints xy: [(5.11,-0.00), (10.15,-0.01), (15.10,-0.01), (19.96,-0.00), (24.72,0.01), (29.42,0.04), (34.10,0.07), (38.79,0.10), (43.50,0.14), (48.22,0.18)]\nOption C\n  waypoints xy: [(4.90,0.00), (9.95,0.05), (15.22,0.11), (20.67,0.11), (26.24,0.23), (31.85,0.30), (37.48,0.31), (43.12,0.38), (48.85,0.45), (54.66,0.52)]\nOption D\n  waypoints xy: [(1.68,0.00), (3.37,0.02), (5.06,0.04), (6.75,0.07), (8.44,0.13), (10.13,0.21), (11.80,0.32), (13.45,0.47), (15.06,0.66), (16.65,0.87)]\nOption E\n  waypoints xy: [(5.05,0.10), (10.07,0.36), (15.06,0.78), (20.03,1.37), (24.97,2.14), (29.86,3.10), (34.69,4.23), (39.42,5.53), (44.05,6.98), (48.54,8.56)]\nOption F\n  waypoints xy: [(1.12,-0.02), (2.14,-0.06), (3.07,-0.10), (3.88,-0.14), (4.62,-0.19), (5.31,-0.25), (5.97,-0.31), (6.61,-0.40), (7.20,-0.49), (7.74,-0.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4014702703389896,"cv_gap":8.9}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"7NUSjlF6SF","cam_id":"4_resize","sample_timestamps":["000000001021_000850000000","000000001022_000100000000","000000001022_000350000000","000000001022_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001022_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7NUSjlF6SF","cam_id":"2","sample_timestamps":["000000001021_000100000000","000000001021_000600000000","000000001022_000100000000","000000001022_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001022_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7NUSjlF6SF","cam_id":"7","sample_timestamps":["000000001021_000100000000","000000001021_000600000000","000000001022_000100000000","000000001022_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001022_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.700 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"7NUSjlF6SF"}},"extra_info":{"index":340,"token":"7NUSjlF6SF","id":"7NUSjlF6SF","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.56,0.03), (9.14,0.11), (13.72,0.27), (18.27,0.51), (22.80,0.81), (27.27,1.14), (31.68,1.49), (35.98,1.84), (40.14,2.14), (44.17,2.40)]\nOption B\n  waypoints xy: [(1.45,0.00), (2.92,0.00), (4.41,0.01), (5.90,0.01), (7.40,0.03), (8.88,0.05), (10.34,0.07), (11.77,0.09), (13.16,0.11), (14.48,0.12)]\nOption C\n  waypoints xy: [(2.93,-0.04), (5.98,-0.15), (9.14,-0.31), (12.37,-0.52), (15.67,-0.74), (19.00,-0.95), (22.32,-1.17), (25.63,-1.38), (28.91,-1.60), (32.12,-1.81)]\nOption D\n  waypoints xy: [(0.77,-0.00), (1.27,-0.00), (1.50,-0.00), (1.56,-0.00), (1.57,-0.00), (1.57,-0.00), (1.57,-0.00), (1.57,-0.00), (1.57,-0.00), (1.60,-0.00)]\nOption E\n  waypoints xy: [(6.69,-0.07), (13.32,-0.24), (19.90,-0.50), (26.43,-0.85), (32.91,-1.26), (39.32,-1.75), (45.67,-2.29), (51.95,-2.89), (58.13,-3.52), (64.24,-4.17)]\nOption F\n  waypoints xy: [(9.26,-0.01), (18.42,-0.02), (27.48,-0.04), (36.44,-0.05), (45.30,-0.05), (54.07,-0.03), (62.70,-0.01), (71.11,0.00), (79.34,-0.01), (87.40,-0.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.9,"cv_gap":12.74}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"F7dFnQiNbX","cam_id":"4_resize","sample_timestamps":["000000017459_000250000000","000000017459_000500000000","000000017459_000750000000","000000017460_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000017460_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"F7dFnQiNbX","cam_id":"2","sample_timestamps":["000000017458_000500000000","000000017459_000000000000","000000017459_000500000000","000000017460_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000017460_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"F7dFnQiNbX","cam_id":"7","sample_timestamps":["000000017458_000500000000","000000017459_000000000000","000000017459_000500000000","000000017460_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000017460_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 7.700 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"F7dFnQiNbX"}},"extra_info":{"index":341,"token":"F7dFnQiNbX","id":"F7dFnQiNbX","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.96,-0.00), (7.88,0.01), (11.78,0.04), (15.64,0.09), (19.46,0.16), (23.25,0.23), (27.02,0.30), (30.76,0.36), (34.46,0.42), (38.11,0.47)]\nOption B\n  waypoints xy: [(2.86,0.02), (5.59,0.08), (8.14,0.18), (10.46,0.32), (12.52,0.46), (14.30,0.59), (15.76,0.71), (16.92,0.80), (17.79,0.88), (18.45,0.94)]\nOption C\n  waypoints xy: [(13.55,0.27), (27.07,1.16), (40.55,2.67), (53.96,4.79), (67.28,7.51), (80.51,10.76), (93.63,14.49), (106.61,18.66), (119.45,23.22), (132.19,28.15)]\nOption D\n  waypoints xy: [(0.71,-0.02), (1.74,-0.15), (3.04,-0.56), (4.49,-1.38), (5.88,-2.74), (6.99,-4.66), (7.76,-7.06), (8.18,-9.85), (8.36,-12.99), (8.48,-16.43)]\nOption E\n  waypoints xy: [(0.96,0.09), (2.12,0.35), (3.44,0.91), (4.82,1.87), (6.13,3.27), (7.24,5.13), (8.05,7.39), (8.59,10.00), (8.94,12.91), (9.18,16.07)]\nOption F\n  waypoints xy: [(13.77,-0.02), (27.55,-0.05), (41.33,-0.09), (55.17,-0.14), (69.15,-0.19), (83.19,-0.22), (97.18,-0.19), (111.14,-0.04), (125.10,0.31), (139.02,0.94)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.700649323271382,"cv_gap":19.844}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/731c0cfbe51a3e5c953e055ed53b8f39-097/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/731c0cfbe51a3e5c953e055ed53b8f39-097/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/731c0cfbe51a3e5c953e055ed53b8f39-097/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.805 m/s at x-direction and 0.005 m/s at y-direction. The ego vehicle's current acceleration is -0.449 m/s^2 at x-direction and 0.035 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::731c0cfbe51a3e5c953e055ed53b8f39-097"}},"extra_info":{"index":342,"token":"waymo_e2e::731c0cfbe51a3e5c953e055ed53b8f39-097","id":"waymo_e2e::731c0cfbe51a3e5c953e055ed53b8f39-097","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.91,-0.00), (5.80,-0.01), (8.70,-0.01), (11.62,-0.01), (14.56,-0.00), (17.52,-0.00), (20.49,0.00), (23.44,0.01), (26.37,0.02), (29.28,0.02)]\nOption B\n  waypoints xy: [(2.49,-0.00), (4.61,-0.00), (6.26,0.01), (7.43,0.01), (8.11,0.02), (8.39,0.02), (8.42,0.02), (8.42,0.02), (8.43,0.02), (8.51,0.02)]\nOption C\n  waypoints xy: [(5.00,0.02), (9.89,0.07), (14.60,0.13), (18.91,0.18), (22.79,0.20), (26.15,0.20), (28.95,0.18), (31.23,0.14), (32.94,0.12), (34.19,0.10)]\nOption D\n  waypoints xy: [(6.21,0.01), (12.43,0.02), (18.67,0.04), (24.93,0.08), (31.21,0.16), (37.49,0.29), (43.78,0.46), (50.09,0.67), (56.41,0.90), (62.75,1.15)]\nOption E\n  waypoints xy: [(3.78,0.47), (7.66,1.40), (11.68,2.68), (15.91,4.09), (20.40,5.60), (25.17,7.19), (30.14,8.91), (35.27,10.76), (40.57,12.66), (46.03,14.60)]\nOption F\n  waypoints xy: [(4.35,0.00), (8.85,0.05), (13.48,0.05), (18.29,0.05), (23.21,0.05), (28.25,0.10), (33.40,0.10), (38.63,0.16), (43.95,0.22), (49.34,0.28)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.8050003443287475,"cv_gap":20.778}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"XgzicfAExp","cam_id":"4_resize","sample_timestamps":["000000001033_000700000000","000000001034_000200000000","000000001034_000700000000","000000001035_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001035_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XgzicfAExp","cam_id":"2","sample_timestamps":["000000001033_000700000000","000000001034_000200000000","000000001034_000700000000","000000001035_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001035_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XgzicfAExp","cam_id":"7","sample_timestamps":["000000001033_000700000000","000000001034_000200000000","000000001034_000700000000","000000001035_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001035_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.400 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"XgzicfAExp"}},"extra_info":{"index":343,"token":"XgzicfAExp","id":"XgzicfAExp","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.20,-0.01), (4.11,-0.02), (5.70,-0.03), (6.98,-0.05), (7.95,-0.06), (8.63,-0.07), (9.05,-0.07), (9.28,-0.08), (9.43,-0.08), (9.56,-0.08)]\nOption B\n  waypoints xy: [(8.52,0.02), (17.17,0.13), (25.96,0.29), (34.86,0.52), (43.85,0.82), (52.91,1.20), (62.05,1.64), (71.25,2.14), (80.50,2.70), (89.78,3.29)]\nOption C\n  waypoints xy: [(2.21,0.02), (4.41,0.06), (6.60,0.12), (8.77,0.17), (10.93,0.23), (13.10,0.28), (15.27,0.32), (17.44,0.35), (19.58,0.36), (21.68,0.34)]\nOption D\n  waypoints xy: [(7.56,0.03), (15.17,0.10), (22.81,0.18), (30.47,0.27), (38.15,0.39), (45.82,0.52), (53.48,0.67), (61.14,0.84), (68.78,1.04), (76.37,1.22)]\nOption E\n  waypoints xy: [(2.96,0.00), (6.45,0.01), (10.47,0.03), (14.98,0.06), (19.95,0.10), (25.34,0.14), (31.07,0.18), (37.10,0.23), (43.33,0.27), (49.70,0.32)]\nOption F\n  waypoints xy: [(5.08,-0.04), (10.19,-0.12), (15.34,-0.22), (20.52,-0.33), (25.72,-0.45), (30.92,-0.58), (35.96,-0.73), (40.79,-0.86), (45.37,-0.99), (49.68,-1.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.401136216933078,"cv_gap":12.621}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"yrBxo9fNRb","cam_id":"4_resize","sample_timestamps":["000000007199_000300000000","000000007199_000800000000","000000007200_000300000000","000000007200_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007200_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"yrBxo9fNRb","cam_id":"2","sample_timestamps":["000000007199_000300000000","000000007199_000800000000","000000007200_000300000000","000000007200_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007200_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"yrBxo9fNRb","cam_id":"7","sample_timestamps":["000000007199_000300000000","000000007199_000800000000","000000007200_000300000000","000000007200_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007200_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.900 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"yrBxo9fNRb"}},"extra_info":{"index":344,"token":"yrBxo9fNRb","id":"yrBxo9fNRb","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.75,-0.01), (9.44,0.00), (14.09,0.03), (18.68,0.03), (23.21,0.05), (27.60,0.07), (31.89,0.08), (36.18,0.07), (40.58,0.06), (44.94,0.09)]\nOption B\n  waypoints xy: [(4.52,-0.02), (9.05,-0.06), (13.57,-0.13), (18.06,-0.21), (22.47,-0.30), (26.77,-0.40), (30.94,-0.49), (34.95,-0.58), (38.77,-0.66), (42.36,-0.74)]\nOption C\n  waypoints xy: [(5.16,-0.01), (10.54,-0.02), (16.13,-0.04), (21.90,-0.07), (27.84,-0.10), (33.94,-0.14), (40.18,-0.19), (46.54,-0.23), (53.00,-0.26), (59.51,-0.28)]\nOption D\n  waypoints xy: [(1.94,0.00), (3.89,0.01), (5.87,0.02), (7.87,0.04), (9.87,0.04), (11.89,0.05), (13.92,0.05), (16.00,0.05), (18.11,0.04), (20.24,0.02)]\nOption E\n  waypoints xy: [(1.35,0.00), (2.51,0.01), (3.48,0.01), (4.24,0.02), (4.78,0.02), (5.15,0.03), (5.40,0.04), (5.57,0.04), (5.71,0.04), (5.85,0.04)]\nOption F\n  waypoints xy: [(3.61,-0.02), (7.33,-0.04), (11.15,-0.09), (15.07,-0.14), (19.10,-0.21), (23.21,-0.29), (27.42,-0.39), (31.72,-0.48), (36.07,-0.57), (40.46,-0.67)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.0,"cv_gap":14.244}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"QPa9xSvM4N","cam_id":"4_resize","sample_timestamps":["000000005791_000250000000","000000005791_000500000000","000000005791_000750000000","000000005792_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005792_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QPa9xSvM4N","cam_id":"2","sample_timestamps":["000000005790_000500000000","000000005791_000000000000","000000005791_000500000000","000000005792_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005792_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QPa9xSvM4N","cam_id":"7","sample_timestamps":["000000005790_000500000000","000000005791_000000000000","000000005791_000500000000","000000005792_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005792_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 6.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.700 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"QPa9xSvM4N"}},"extra_info":{"index":345,"token":"QPa9xSvM4N","id":"QPa9xSvM4N","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.91,-0.42), (1.53,-0.87), (2.02,-1.37), (2.47,-2.01), (2.91,-2.87), (3.37,-3.97), (3.82,-5.30), (4.25,-6.89), (4.76,-8.70), (5.36,-10.69)]\nOption B\n  waypoints xy: [(2.89,-0.01), (5.48,-0.02), (7.71,-0.05), (9.55,-0.08), (10.95,-0.11), (11.92,-0.13), (12.50,-0.14), (12.74,-0.15), (12.81,-0.16), (12.87,-0.16)]\nOption C\n  waypoints xy: [(5.67,-0.00), (11.21,-0.00), (16.59,-0.01), (21.79,-0.02), (26.82,-0.02), (31.67,-0.03), (36.34,-0.03), (40.86,-0.02), (45.24,0.00), (49.52,0.02)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(3.36,0.00), (6.73,0.01), (10.12,0.01), (13.53,0.02), (16.95,0.02), (20.38,0.01), (23.82,-0.01), (27.26,-0.03), (30.67,-0.06), (34.06,-0.09)]\nOption F\n  waypoints xy: [(7.26,-0.03), (14.51,-0.10), (21.73,-0.19), (28.92,-0.29), (36.06,-0.40), (43.15,-0.52), (50.18,-0.65), (57.13,-0.79), (64.00,-0.94), (70.81,-1.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.8,"cv_gap":21.165}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/b9957ecf45ce8bb08af824b713b10ed4-175/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b9957ecf45ce8bb08af824b713b10ed4-175/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b9957ecf45ce8bb08af824b713b10ed4-175/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 4.370 m/s at x-direction and 0.016 m/s at y-direction. The ego vehicle's current acceleration is 0.195 m/s^2 at x-direction and -0.340 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b9957ecf45ce8bb08af824b713b10ed4-175"}},"extra_info":{"index":346,"token":"waymo_e2e::b9957ecf45ce8bb08af824b713b10ed4-175","id":"waymo_e2e::b9957ecf45ce8bb08af824b713b10ed4-175","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.96,-0.00), (8.01,-0.01), (12.13,-0.00), (16.32,0.01), (20.58,0.03), (24.91,0.04), (29.30,0.06), (33.75,0.07), (38.21,0.09), (42.69,0.11)]\nOption B\n  waypoints xy: [(2.21,-0.46), (4.38,-1.40), (6.25,-2.71), (7.73,-4.23), (8.93,-6.03), (9.85,-8.06), (10.55,-10.33), (11.15,-12.99), (11.72,-16.06), (12.34,-19.50)]\nOption C\n  waypoints xy: [(5.63,-0.02), (11.31,-0.04), (17.01,-0.06), (22.72,-0.08), (28.44,-0.10), (34.16,-0.10), (39.89,-0.10), (45.61,-0.10), (51.32,-0.07), (57.03,-0.04)]\nOption D\n  waypoints xy: [(2.18,-0.01), (4.30,-0.01), (6.38,-0.02), (8.47,-0.03), (10.62,-0.03), (12.87,-0.02), (15.25,-0.01), (17.75,0.01), (20.37,0.03), (23.08,0.06)]\nOption E\n  waypoints xy: [(3.28,-0.05), (6.50,-0.15), (9.59,-0.30), (12.50,-0.46), (15.14,-0.63), (17.45,-0.80), (19.39,-0.96), (20.94,-1.09), (22.14,-1.19), (23.05,-1.26)]\nOption F\n  waypoints xy: [(2.09,-0.04), (4.24,-0.09), (6.46,-0.13), (8.72,-0.15), (11.02,-0.15), (13.22,-0.13), (15.34,-0.11), (17.46,-0.07), (19.60,-0.03), (21.76,-0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.3699772053022565,"cv_gap":21.893}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/b3c4404e2b76451cc481788af624b78d-092/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b3c4404e2b76451cc481788af624b78d-092/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b3c4404e2b76451cc481788af624b78d-092/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.323 m/s at x-direction and -0.017 m/s at y-direction. The ego vehicle's current acceleration is -0.262 m/s^2 at x-direction and -0.029 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b3c4404e2b76451cc481788af624b78d-092"}},"extra_info":{"index":347,"token":"waymo_e2e::b3c4404e2b76451cc481788af624b78d-092","id":"waymo_e2e::b3c4404e2b76451cc481788af624b78d-092","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.86,0.17), (11.71,0.61), (17.55,1.34), (23.37,2.35), (29.16,3.65), (34.91,5.20), (40.63,6.99), (46.32,8.96), (52.00,11.08), (57.67,13.32)]\nOption B\n  waypoints xy: [(9.75,0.01), (19.52,0.02), (29.35,0.03), (39.24,0.04), (49.19,0.07), (59.19,0.10), (69.23,0.13), (79.30,0.16), (89.39,0.19), (99.51,0.22)]\nOption C\n  waypoints xy: [(3.65,-0.01), (7.00,-0.02), (9.89,-0.02), (12.33,-0.03), (14.29,-0.04), (15.76,-0.05), (16.74,-0.06), (17.18,-0.06), (17.20,-0.07), (17.21,-0.07)]\nOption D\n  waypoints xy: [(1.63,-0.42), (3.21,-1.18), (4.62,-2.27), (5.85,-3.59), (6.94,-5.06), (7.92,-6.58), (8.84,-8.08), (9.75,-9.56), (10.67,-11.10), (11.63,-12.69)]\nOption E\n  waypoints xy: [(3.65,-0.01), (7.30,-0.01), (10.95,-0.02), (14.60,-0.04), (18.25,-0.05), (21.91,-0.06), (25.57,-0.07), (29.26,-0.07), (32.94,-0.07), (36.66,-0.08)]\nOption F\n  waypoints xy: [(0.21,0.01), (0.56,0.03), (1.22,0.08), (2.33,0.24), (3.90,0.65), (5.84,1.52), (7.91,3.01), (9.89,5.18), (11.57,8.00), (12.89,11.34)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.322944485554433,"cv_gap":19.166}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"4B2dWMLeQO","cam_id":"4_resize","sample_timestamps":["001746723105_000900000000","001746723106_000400000000","001746723106_000900000000","001746723107_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001746723107_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4B2dWMLeQO","cam_id":"2","sample_timestamps":["001746723105_000900000000","001746723106_000400000000","001746723106_000900000000","001746723107_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001746723107_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4B2dWMLeQO","cam_id":"7","sample_timestamps":["001746723105_000900000000","001746723106_000400000000","001746723106_000900000000","001746723107_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001746723107_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn right with a constant speed**. The ego vehicle's current velocity is 2.300 m/s at x-direction and 0.700 m/s at y-direction. The ego vehicle's current acceleration is 0.600 m/s^2 at x-direction and -1.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"4B2dWMLeQO"}},"extra_info":{"index":348,"token":"4B2dWMLeQO","id":"4B2dWMLeQO","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.37,-0.34), (2.73,-1.01), (4.03,-2.03), (5.23,-3.41), (6.34,-5.12), (7.41,-7.11), (8.47,-9.34), (9.56,-11.77), (10.67,-14.37), (11.82,-17.08)]\nOption B\n  waypoints xy: [(2.30,-0.01), (4.55,-0.02), (6.75,-0.04), (8.90,-0.06), (11.00,-0.07), (13.05,-0.08), (15.04,-0.10), (17.00,-0.11), (18.91,-0.13), (20.77,-0.15)]\nOption C\n  waypoints xy: [(1.63,0.00), (3.34,0.02), (5.14,0.05), (7.06,0.11), (9.08,0.19), (11.22,0.29), (13.46,0.41), (15.80,0.55), (18.24,0.70), (20.75,0.85)]\nOption D\n  waypoints xy: [(1.25,0.05), (2.48,0.23), (3.68,0.50), (4.84,0.85), (5.96,1.27), (7.04,1.75), (8.07,2.29), (9.04,2.87), (9.94,3.49), (10.79,4.15)]\nOption E\n  waypoints xy: [(5.75,0.02), (11.60,0.10), (17.56,0.24), (23.61,0.44), (29.73,0.72), (35.91,1.08), (42.13,1.53), (48.37,2.07), (54.61,2.71), (60.85,3.45)]\nOption F\n  waypoints xy: [(12.38,-0.04), (24.64,-0.13), (36.77,-0.29), (48.74,-0.52), (60.53,-0.83), (72.15,-1.20), (83.66,-1.64), (95.06,-2.13), (106.26,-2.65), (117.23,-3.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.4041630560342613,"cv_gap":21.648}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3900c985fc6435224e406057f9136309-143/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3900c985fc6435224e406057f9136309-143/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3900c985fc6435224e406057f9136309-143/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.594 m/s at x-direction and -0.017 m/s at y-direction. The ego vehicle's current acceleration is -0.228 m/s^2 at x-direction and -0.021 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3900c985fc6435224e406057f9136309-143"}},"extra_info":{"index":349,"token":"waymo_e2e::3900c985fc6435224e406057f9136309-143","id":"waymo_e2e::3900c985fc6435224e406057f9136309-143","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.68,0.01), (13.30,0.04), (19.84,0.10), (26.28,0.18), (32.63,0.30), (38.84,0.43), (44.91,0.60), (50.82,0.78), (56.56,0.98), (62.13,1.19)]\nOption B\n  waypoints xy: [(4.33,0.03), (8.67,0.10), (13.01,0.19), (17.34,0.32), (21.68,0.48), (26.01,0.66), (30.35,0.87), (34.69,1.12), (39.03,1.41), (43.40,1.73)]\nOption C\n  waypoints xy: [(5.20,0.02), (10.35,0.10), (15.49,0.25), (20.62,0.46), (25.76,0.70), (30.91,0.97), (36.07,1.24), (41.25,1.51), (46.46,1.75), (51.68,1.99)]\nOption D\n  waypoints xy: [(2.26,-0.01), (3.98,-0.02), (5.10,-0.02), (5.69,-0.02), (5.88,-0.03), (5.90,-0.03), (5.90,-0.03), (5.91,-0.03), (6.00,-0.03), (6.27,-0.03)]\nOption E\n  waypoints xy: [(2.83,-0.01), (5.64,-0.02), (8.43,-0.04), (11.23,-0.06), (14.05,-0.07), (16.87,-0.08), (19.69,-0.08), (22.51,-0.10), (25.33,-0.11), (28.14,-0.14)]\nOption F\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.593784873016825,"cv_gap":22.308}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"xaGvAi8TUo","cam_id":"4_resize","sample_timestamps":["000000007383_000050000000","000000007383_000300000000","000000007383_000550000000","000000007383_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007383_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"xaGvAi8TUo","cam_id":"2","sample_timestamps":["000000007382_000300000000","000000007382_000800000000","000000007383_000300000000","000000007383_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007383_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"xaGvAi8TUo","cam_id":"7","sample_timestamps":["000000007382_000300000000","000000007382_000800000000","000000007383_000300000000","000000007383_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007383_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.900 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.200 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"xaGvAi8TUo"}},"extra_info":{"index":350,"token":"xaGvAi8TUo","id":"xaGvAi8TUo","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.77,-0.04), (11.52,-0.13), (17.22,-0.28), (22.84,-0.48), (28.41,-0.72), (33.93,-0.98), (39.38,-1.26), (44.76,-1.56), (50.03,-1.88), (55.18,-2.24)]\nOption B\n  waypoints xy: [(0.56,0.00), (0.99,0.00), (1.30,0.00), (1.48,-0.00), (1.55,-0.00), (1.57,-0.00), (1.57,0.00), (1.58,0.00), (1.59,0.00), (1.64,0.00)]\nOption C\n  waypoints xy: [(4.30,0.10), (8.47,0.35), (12.51,0.68), (16.38,1.04), (20.06,1.34), (23.55,1.50), (26.90,1.58), (30.10,1.58), (33.03,1.51), (35.70,1.44)]\nOption D\n  waypoints xy: [(0.94,0.00), (1.87,0.00), (2.82,0.00), (3.78,0.00), (4.73,0.00), (5.69,0.00), (6.65,0.01), (7.61,0.02), (8.57,0.04), (9.54,0.08)]\nOption E\n  waypoints xy: [(3.67,-0.01), (7.40,-0.01), (11.20,-0.01), (15.11,0.00), (19.13,0.02), (23.27,0.05), (27.51,0.07), (31.82,0.10), (36.15,0.13), (40.47,0.17)]\nOption F\n  waypoints xy: [(4.83,0.00), (9.47,0.01), (13.98,0.03), (18.47,0.06), (22.92,0.12), (27.36,0.22), (31.79,0.36), (36.22,0.54), (40.64,0.74), (45.06,0.97)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.9,"cv_gap":7.856}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/8f71300fe9ccdcc7347e320a17768e06-076/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/8f71300fe9ccdcc7347e320a17768e06-076/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/8f71300fe9ccdcc7347e320a17768e06-076/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.512 m/s at x-direction and 0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.189 m/s^2 at x-direction and -0.017 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::8f71300fe9ccdcc7347e320a17768e06-076"}},"extra_info":{"index":351,"token":"waymo_e2e::8f71300fe9ccdcc7347e320a17768e06-076","id":"waymo_e2e::8f71300fe9ccdcc7347e320a17768e06-076","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.72,-0.04), (11.32,-0.15), (16.75,-0.32), (22.00,-0.53), (27.03,-0.78), (31.82,-1.05), (36.33,-1.32), (40.54,-1.59), (44.47,-1.84), (48.15,-2.06)]\nOption B\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption C\n  waypoints xy: [(2.73,-0.08), (5.24,-0.25), (7.48,-0.49), (9.34,-0.72), (10.74,-0.90), (11.64,-1.02), (12.12,-1.08), (12.29,-1.10), (12.34,-1.11), (12.39,-1.11)]\nOption D\n  waypoints xy: [(5.51,0.01), (10.98,0.06), (16.41,0.13), (21.80,0.24), (27.13,0.37), (32.44,0.51), (37.70,0.67), (42.92,0.81), (48.09,0.95), (53.20,1.08)]\nOption E\n  waypoints xy: [(2.81,0.01), (5.58,0.02), (8.33,0.03), (11.05,0.04), (13.76,0.05), (16.48,0.07), (19.23,0.09), (22.00,0.11), (24.79,0.14), (27.56,0.18)]\nOption F\n  waypoints xy: [(5.45,0.01), (10.97,0.04), (16.54,0.09), (22.16,0.14), (27.82,0.21), (33.49,0.28), (39.18,0.37), (44.87,0.45), (50.56,0.55), (56.26,0.66)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.511754508337218,"cv_gap":14.928}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"GypjYj2Q24","cam_id":"4_resize","sample_timestamps":["000000005820_000300000000","000000005820_000800000000","000000005821_000300000000","000000005821_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005821_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"GypjYj2Q24","cam_id":"2","sample_timestamps":["000000005820_000300000000","000000005820_000800000000","000000005821_000300000000","000000005821_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005821_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"GypjYj2Q24","cam_id":"7","sample_timestamps":["000000005820_000300000000","000000005820_000800000000","000000005821_000300000000","000000005821_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005821_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"GypjYj2Q24"}},"extra_info":{"index":352,"token":"GypjYj2Q24","id":"GypjYj2Q24","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.90,0.00), (1.82,-0.01), (2.75,-0.00), (3.69,-0.00), (4.62,0.01), (5.53,0.01), (6.41,0.01), (7.27,0.02), (8.11,0.03), (8.94,0.03)]\nOption B\n  waypoints xy: [(4.72,0.11), (9.47,0.35), (14.19,0.71), (18.83,1.20), (23.36,1.79), (27.75,2.46), (32.00,3.17), (36.07,3.90), (39.97,4.60), (43.73,5.26)]\nOption C\n  waypoints xy: [(8.14,-0.01), (16.37,-0.03), (24.69,-0.06), (33.07,-0.07), (41.49,-0.12), (49.92,-0.15), (58.35,-0.19), (66.78,-0.24), (75.21,-0.28), (83.62,-0.33)]\nOption D\n  waypoints xy: [(0.74,-0.00), (1.19,-0.00), (1.49,-0.00), (1.71,-0.00), (1.88,0.00), (2.03,-0.00), (2.11,-0.00), (2.12,-0.00), (2.15,-0.00), (2.31,-0.00)]\nOption E\n  waypoints xy: [(3.44,-0.00), (6.83,-0.00), (10.19,-0.00), (13.48,0.00), (16.71,0.00), (19.86,0.00), (22.93,-0.00), (25.90,-0.02), (28.74,-0.06), (31.43,-0.10)]\nOption F\n  waypoints xy: [(4.66,-0.01), (9.35,-0.02), (14.05,-0.04), (18.75,-0.06), (23.45,-0.09), (28.14,-0.13), (32.81,-0.18), (37.44,-0.23), (42.05,-0.28), (46.60,-0.33)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.8,"cv_gap":6.875}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-104/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-104/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-104/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 9.212 m/s at x-direction and -0.040 m/s at y-direction. The ego vehicle's current acceleration is -0.366 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-104"}},"extra_info":{"index":353,"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-104","id":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-104","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.37,-0.02), (12.71,-0.05), (18.99,-0.10), (25.21,-0.17), (31.36,-0.25), (37.45,-0.33), (43.44,-0.43), (49.33,-0.54), (55.15,-0.66), (60.89,-0.79)]\nOption B\n  waypoints xy: [(1.58,0.24), (3.16,0.74), (4.71,1.47), (6.25,2.44), (7.77,3.60), (9.27,4.92), (10.73,6.39), (12.18,7.99), (13.62,9.71), (15.04,11.55)]\nOption C\n  waypoints xy: [(5.46,0.17), (10.92,0.60), (16.36,1.33), (21.78,2.38), (27.13,3.75), (32.36,5.45), (37.43,7.47), (42.28,9.79), (46.89,12.37), (51.27,15.18)]\nOption D\n  waypoints xy: [(4.26,0.00), (8.11,0.01), (11.44,0.02), (14.19,0.03), (16.28,0.03), (17.66,0.03), (18.41,0.04), (18.73,0.04), (18.85,0.04), (18.95,0.04)]\nOption E\n  waypoints xy: [(4.49,-0.01), (9.05,-0.03), (13.65,-0.04), (18.26,-0.06), (22.89,-0.08), (27.52,-0.09), (32.14,-0.11), (36.74,-0.12), (41.27,-0.12), (45.74,-0.11)]\nOption F\n  waypoints xy: [(1.70,-0.14), (3.48,-0.52), (5.24,-1.21), (6.88,-2.29), (8.28,-3.76), (9.36,-5.58), (10.11,-7.71), (10.56,-10.11), (10.80,-12.72), (10.93,-15.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.211925344148556,"cv_gap":27.863}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"NprfaF92gn","cam_id":"4_resize","sample_timestamps":["000000003100_000100000000","000000003100_000600000000","000000003101_000100000000","000000003101_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003101_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NprfaF92gn","cam_id":"2","sample_timestamps":["000000003100_000100000000","000000003100_000600000000","000000003101_000100000000","000000003101_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003101_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"NprfaF92gn","cam_id":"7","sample_timestamps":["000000003100_000100000000","000000003100_000600000000","000000003101_000100000000","000000003101_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003101_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"NprfaF92gn"}},"extra_info":{"index":354,"token":"NprfaF92gn","id":"NprfaF92gn","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.30,-0.01), (14.57,-0.02), (21.81,-0.02), (29.03,-0.02), (36.21,-0.00), (43.35,0.01), (50.46,0.02), (57.52,0.03), (64.53,0.04), (71.48,0.07)]\nOption B\n  waypoints xy: [(1.36,-0.01), (2.58,-0.03), (3.58,-0.05), (4.34,-0.06), (4.85,-0.07), (5.17,-0.08), (5.35,-0.08), (5.47,-0.09), (5.51,-0.09), (5.51,-0.09)]\nOption C\n  waypoints xy: [(4.53,-0.06), (9.37,-0.17), (14.47,-0.34), (19.78,-0.55), (25.27,-0.80), (30.91,-1.06), (36.66,-1.34), (42.50,-1.62), (48.40,-1.90), (54.37,-2.19)]\nOption D\n  waypoints xy: [(5.07,-0.00), (10.24,0.01), (15.55,0.02), (21.01,0.05), (26.59,0.09), (32.24,0.14), (37.89,0.22), (43.52,0.30), (49.06,0.38), (54.47,0.46)]\nOption E\n  waypoints xy: [(1.70,-0.00), (3.41,0.02), (5.13,0.01), (6.86,0.01), (8.60,0.01), (10.35,0.01), (12.07,-0.01), (13.73,-0.04), (15.33,-0.05), (16.85,-0.08)]\nOption F\n  waypoints xy: [(4.92,-0.01), (9.86,-0.02), (14.83,-0.05), (19.80,-0.07), (24.78,-0.09), (29.76,-0.11), (34.72,-0.12), (39.66,-0.13), (44.57,-0.14), (49.46,-0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4,"cv_gap":11.314}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"18hEG19B0m","cam_id":"4_resize","sample_timestamps":["000000017256_000300000000","000000017256_000800000000","000000017257_000300000000","000000017257_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000017257_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"18hEG19B0m","cam_id":"2","sample_timestamps":["000000017256_000300000000","000000017256_000800000000","000000017257_000300000000","000000017257_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000017257_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"18hEG19B0m","cam_id":"7","sample_timestamps":["000000017256_000300000000","000000017256_000800000000","000000017257_000300000000","000000017257_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000017257_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.200 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"18hEG19B0m"}},"extra_info":{"index":355,"token":"18hEG19B0m","id":"18hEG19B0m","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.96,-0.04), (15.92,-0.12), (23.88,-0.26), (31.85,-0.45), (39.81,-0.66), (47.76,-0.91), (55.70,-1.18), (63.61,-1.46), (71.50,-1.76), (79.36,-2.04)]\nOption B\n  waypoints xy: [(3.15,-0.52), (6.54,-1.48), (10.15,-2.73), (13.97,-4.18), (17.95,-5.75), (22.06,-7.37), (26.28,-9.03), (30.56,-10.71), (34.87,-12.38), (39.17,-14.03)]\nOption C\n  waypoints xy: [(4.17,-0.03), (8.30,-0.10), (12.40,-0.20), (16.46,-0.34), (20.46,-0.50), (24.37,-0.67), (28.20,-0.85), (31.97,-1.05), (35.67,-1.25), (39.28,-1.46)]\nOption D\n  waypoints xy: [(1.73,-0.01), (3.36,-0.02), (4.85,-0.03), (6.17,-0.04), (7.20,-0.04), (7.87,-0.05), (8.21,-0.05), (8.32,-0.05), (8.35,-0.05), (8.42,-0.05)]\nOption E\n  waypoints xy: [(2.19,0.00), (4.36,0.01), (6.48,0.01), (8.57,0.01), (10.64,-0.00), (12.70,-0.02), (14.75,-0.03), (16.77,-0.04), (18.73,-0.05), (20.61,-0.06)]\nOption F\n  waypoints xy: [(6.48,-0.02), (13.14,-0.04), (19.97,-0.08), (26.98,-0.13), (34.14,-0.17), (41.43,-0.23), (48.80,-0.28), (56.24,-0.34), (63.75,-0.39), (71.30,-0.43)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.2,"cv_gap":12.452}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"UbUxRGyouS","cam_id":"4_resize","sample_timestamps":["000000003107_000600000000","000000003108_000100000000","000000003108_000600000000","000000003109_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003109_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"UbUxRGyouS","cam_id":"2","sample_timestamps":["000000003107_000600000000","000000003108_000100000000","000000003108_000600000000","000000003109_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003109_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"UbUxRGyouS","cam_id":"7","sample_timestamps":["000000003107_000600000000","000000003108_000100000000","000000003108_000600000000","000000003109_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003109_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.100 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.400 m/s^2 at x-direction and 0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"UbUxRGyouS"}},"extra_info":{"index":356,"token":"UbUxRGyouS","id":"UbUxRGyouS","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.11,0.00), (14.23,0.01), (21.35,0.02), (28.48,0.04), (35.62,0.06), (42.76,0.09), (49.91,0.11), (57.04,0.12), (64.12,0.13), (71.13,0.14)]\nOption B\n  waypoints xy: [(3.56,0.00), (7.41,0.02), (11.55,0.04), (15.94,0.07), (20.56,0.11), (25.36,0.16), (30.32,0.22), (35.40,0.29), (40.59,0.38), (45.82,0.48)]\nOption C\n  waypoints xy: [(4.91,-0.01), (9.89,-0.02), (14.93,-0.04), (20.03,-0.07), (25.19,-0.11), (30.41,-0.16), (35.68,-0.21), (41.00,-0.26), (46.36,-0.31), (51.72,-0.37)]\nOption D\n  waypoints xy: [(4.13,-0.02), (8.25,-0.07), (12.33,-0.14), (16.35,-0.24), (20.30,-0.32), (24.19,-0.40), (28.03,-0.47), (31.82,-0.53), (35.53,-0.60), (39.10,-0.66)]\nOption E\n  waypoints xy: [(1.48,-0.02), (3.01,-0.06), (4.56,-0.12), (6.12,-0.20), (7.68,-0.31), (9.23,-0.42), (10.77,-0.55), (12.30,-0.68), (13.80,-0.81), (15.25,-0.93)]\nOption F\n  waypoints xy: [(1.06,0.00), (1.87,0.00), (2.44,0.00), (2.80,0.01), (3.04,0.01), (3.21,0.01), (3.35,0.01), (3.49,0.02), (3.62,0.02), (3.78,0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.1016124838541645,"cv_gap":11.914}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"VesMoqSiS9","cam_id":"4_resize","sample_timestamps":["000000002057_000300000000","000000002057_000800000000","000000002058_000300000000","000000002058_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002058_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"VesMoqSiS9","cam_id":"2","sample_timestamps":["000000002057_000300000000","000000002057_000800000000","000000002058_000300000000","000000002058_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002058_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"VesMoqSiS9","cam_id":"7","sample_timestamps":["000000002057_000300000000","000000002057_000800000000","000000002058_000300000000","000000002058_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002058_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 9.300 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.200 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"VesMoqSiS9"}},"extra_info":{"index":357,"token":"VesMoqSiS9","id":"VesMoqSiS9","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.09,-0.10), (2.30,-0.38), (3.54,-0.89), (4.77,-1.70), (5.91,-2.80), (6.93,-4.20), (7.80,-5.86), (8.55,-7.76), (9.19,-9.81), (9.77,-11.95)]\nOption B\n  waypoints xy: [(3.72,-0.02), (7.03,-0.05), (9.85,-0.09), (12.11,-0.13), (13.73,-0.17), (14.71,-0.20), (15.16,-0.22), (15.29,-0.22), (15.31,-0.23), (15.35,-0.23)]\nOption C\n  waypoints xy: [(5.46,-0.01), (10.97,-0.03), (16.52,-0.03), (22.08,0.02), (27.65,0.11), (33.09,0.17), (38.23,0.22), (43.28,0.24), (48.33,0.25), (53.42,0.26)]\nOption D\n  waypoints xy: [(7.42,0.02), (14.80,0.07), (22.17,0.08), (29.56,0.05), (36.98,0.01), (44.41,-0.00), (51.93,-0.01), (59.52,-0.00), (67.16,0.01), (74.81,0.01)]\nOption E\n  waypoints xy: [(4.56,-0.01), (9.16,-0.01), (13.78,-0.03), (18.44,-0.05), (23.13,-0.09), (27.83,-0.13), (32.53,-0.19), (37.22,-0.26), (41.91,-0.34), (46.58,-0.43)]\nOption F\n  waypoints xy: [(0.88,-0.31), (1.74,-0.79), (2.64,-1.46), (3.59,-2.31), (4.60,-3.36), (5.71,-4.60), (6.86,-6.05), (8.01,-7.71), (9.19,-9.57), (10.44,-11.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.300537618869138,"cv_gap":31.077}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"PsUkqylSvE","cam_id":"4_resize","sample_timestamps":["000000003091_000600000000","000000003092_000100000000","000000003092_000600000000","000000003093_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003093_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PsUkqylSvE","cam_id":"2","sample_timestamps":["000000003091_000600000000","000000003092_000100000000","000000003092_000600000000","000000003093_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003093_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"PsUkqylSvE","cam_id":"7","sample_timestamps":["000000003091_000600000000","000000003092_000100000000","000000003092_000600000000","000000003093_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003093_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with a constant speed**. The ego vehicle's current velocity is 3.100 m/s at x-direction and 0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and -0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"PsUkqylSvE"}},"extra_info":{"index":358,"token":"PsUkqylSvE","id":"PsUkqylSvE","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.08,-0.00), (8.09,-0.01), (12.00,-0.02), (15.77,-0.02), (19.37,-0.03), (22.78,-0.03), (25.93,-0.04), (28.81,-0.04), (31.43,-0.04), (33.74,-0.02)]\nOption B\n  waypoints xy: [(8.18,-0.08), (16.40,-0.31), (24.65,-0.68), (32.90,-1.21), (41.15,-1.87), (49.37,-2.66), (57.56,-3.57), (65.70,-4.58), (73.82,-5.66), (81.90,-6.81)]\nOption C\n  waypoints xy: [(2.73,-0.01), (5.99,-0.03), (9.75,-0.05), (13.97,-0.08), (18.61,-0.12), (23.61,-0.16), (28.92,-0.22), (34.48,-0.29), (40.24,-0.36), (46.15,-0.45)]\nOption D\n  waypoints xy: [(1.19,-0.11), (2.29,-0.30), (3.18,-0.50), (3.78,-0.65), (4.10,-0.73), (4.25,-0.76), (4.34,-0.79), (4.44,-0.82), (4.68,-0.88), (5.11,-1.00)]\nOption E\n  waypoints xy: [(7.30,-0.01), (14.69,-0.03), (22.15,-0.04), (29.67,-0.04), (37.27,-0.03), (44.94,-0.01), (52.65,0.01), (60.39,0.01), (68.16,0.01), (75.94,0.00)]\nOption F\n  waypoints xy: [(1.53,0.06), (3.07,0.19), (4.60,0.36), (6.13,0.57), (7.64,0.81), (9.14,1.06), (10.63,1.33), (12.09,1.61), (13.53,1.90), (14.95,2.22)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.1144823004794877,"cv_gap":10.545}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"grAJ3cz4Kg","cam_id":"4_resize","sample_timestamps":["000000000638_000400000000","000000000638_000900000000","000000000639_000400000000","000000000639_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000639_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"grAJ3cz4Kg","cam_id":"2","sample_timestamps":["000000000638_000400000000","000000000638_000900000000","000000000639_000400000000","000000000639_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000639_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"grAJ3cz4Kg","cam_id":"7","sample_timestamps":["000000000638_000400000000","000000000638_000900000000","000000000639_000400000000","000000000639_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000639_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.400 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"grAJ3cz4Kg"}},"extra_info":{"index":359,"token":"grAJ3cz4Kg","id":"grAJ3cz4Kg","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.50,-0.01), (11.06,-0.01), (16.66,-0.01), (22.30,0.00), (27.96,0.02), (33.62,0.05), (39.24,0.08), (44.78,0.09), (50.20,0.07), (55.47,0.03)]\nOption B\n  waypoints xy: [(5.33,-0.01), (10.67,-0.05), (15.98,-0.09), (21.26,-0.17), (26.50,-0.28), (31.71,-0.38), (36.91,-0.49), (42.09,-0.62), (47.24,-0.75), (52.36,-0.89)]\nOption C\n  waypoints xy: [(7.96,0.03), (15.92,0.11), (23.87,0.22), (31.81,0.32), (39.75,0.41), (47.68,0.51), (55.60,0.60), (63.52,0.68), (71.43,0.73), (79.34,0.76)]\nOption D\n  waypoints xy: [(4.64,-0.02), (9.19,-0.06), (13.65,-0.11), (17.95,-0.17), (22.07,-0.23), (25.95,-0.30), (29.56,-0.38), (32.88,-0.48), (35.86,-0.62), (38.56,-0.78)]\nOption E\n  waypoints xy: [(1.88,-0.01), (3.52,-0.04), (4.90,-0.07), (6.01,-0.10), (6.82,-0.13), (7.36,-0.14), (7.66,-0.15), (7.81,-0.15), (7.89,-0.16), (8.00,-0.16)]\nOption F\n  waypoints xy: [(2.25,0.00), (4.54,0.01), (6.85,0.02), (9.20,0.03), (11.57,0.04), (13.98,0.04), (16.41,0.05), (18.83,0.05), (21.18,0.06), (23.50,0.06)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.7,"cv_gap":15.397}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/c272cc9989b499bc55db04adbd03a9d3-194/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c272cc9989b499bc55db04adbd03a9d3-194/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c272cc9989b499bc55db04adbd03a9d3-194/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 4.582 m/s at x-direction and -0.070 m/s at y-direction. The ego vehicle's current acceleration is 0.242 m/s^2 at x-direction and 0.332 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c272cc9989b499bc55db04adbd03a9d3-194"}},"extra_info":{"index":360,"token":"waymo_e2e::c272cc9989b499bc55db04adbd03a9d3-194","id":"waymo_e2e::c272cc9989b499bc55db04adbd03a9d3-194","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.43,0.46), (4.92,1.44), (7.30,2.95), (9.41,4.95), (11.18,7.38), (12.61,10.13), (13.78,13.09), (14.76,16.18), (15.71,19.43), (16.72,22.87)]\nOption B\n  waypoints xy: [(3.71,-0.02), (7.30,-0.06), (10.76,-0.11), (14.02,-0.16), (17.07,-0.21), (19.89,-0.25), (22.45,-0.29), (24.72,-0.33), (26.68,-0.39), (28.33,-0.46)]\nOption C\n  waypoints xy: [(2.44,-0.00), (4.83,-0.02), (7.17,-0.04), (9.45,-0.07), (11.69,-0.10), (13.89,-0.13), (16.07,-0.16), (18.22,-0.21), (20.34,-0.25), (22.43,-0.30)]\nOption D\n  waypoints xy: [(4.29,-0.00), (8.55,-0.03), (12.82,-0.07), (17.06,-0.11), (21.25,-0.14), (25.36,-0.17), (29.40,-0.19), (33.45,-0.22), (37.51,-0.25), (41.56,-0.32)]\nOption E\n  waypoints xy: [(3.64,-0.00), (7.18,0.00), (10.60,0.01), (13.86,0.02), (16.94,0.03), (19.79,0.05), (22.40,0.07), (24.70,0.09), (26.68,0.11), (28.34,0.12)]\nOption F\n  waypoints xy: [(7.94,-0.01), (15.91,-0.03), (23.89,-0.06), (31.87,-0.08), (39.84,-0.11), (47.82,-0.15), (55.79,-0.18), (63.75,-0.23), (71.71,-0.27), (79.66,-0.33)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.582688042831102,"cv_gap":23.196}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"5x76RLoNJ8","cam_id":"4_resize","sample_timestamps":["000000006724_000000000000","000000006724_000500000000","000000006725_000000000000","000000006725_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006725_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5x76RLoNJ8","cam_id":"2","sample_timestamps":["000000006724_000000000000","000000006724_000500000000","000000006725_000000000000","000000006725_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006725_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5x76RLoNJ8","cam_id":"7","sample_timestamps":["000000006724_000000000000","000000006724_000500000000","000000006725_000000000000","000000006725_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006725_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with a constant speed**. The ego vehicle's current velocity is 7.900 m/s at x-direction and -0.400 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and 0.800 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"5x76RLoNJ8"}},"extra_info":{"index":361,"token":"5x76RLoNJ8","id":"5x76RLoNJ8","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.95,0.14), (8.01,0.52), (12.16,1.20), (16.31,2.20), (20.44,3.51), (24.59,5.03), (28.74,6.69), (32.88,8.47), (36.91,10.28), (40.79,12.06)]\nOption B\n  waypoints xy: [(0.98,-0.00), (1.96,-0.01), (2.93,-0.03), (3.90,-0.04), (4.84,-0.06), (5.76,-0.09), (6.67,-0.12), (7.56,-0.16), (8.44,-0.21), (9.32,-0.26)]\nOption C\n  waypoints xy: [(3.83,-0.02), (7.73,-0.11), (11.69,-0.23), (15.66,-0.39), (19.63,-0.59), (23.60,-0.84), (27.58,-1.15), (31.57,-1.52), (35.56,-1.95), (39.55,-2.44)]\nOption D\n  waypoints xy: [(4.89,-0.11), (9.80,-0.37), (14.72,-0.80), (19.58,-1.39), (24.26,-2.10), (28.59,-2.86), (32.53,-3.65), (36.11,-4.45), (39.31,-5.24), (42.05,-6.01)]\nOption E\n  waypoints xy: [(4.31,-0.26), (8.53,-0.96), (12.63,-2.01), (16.67,-3.17), (20.73,-4.26), (24.83,-5.21), (28.99,-6.08), (33.20,-6.93), (37.43,-7.77), (41.65,-8.75)]\nOption F\n  waypoints xy: [(0.01,0.00), (0.01,0.00), (0.01,0.00), (0.01,0.00), (0.03,0.00), (0.07,-0.00), (0.21,-0.00), (0.45,-0.01), (0.79,-0.02), (1.19,-0.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.910120100226039,"cv_gap":13.715}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"I98tBlrZOy","cam_id":"4_resize","sample_timestamps":["000000001091_000900000000","000000001092_000400000000","000000001092_000900000000","000000001093_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001093_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"I98tBlrZOy","cam_id":"2","sample_timestamps":["000000001091_000900000000","000000001092_000400000000","000000001092_000900000000","000000001093_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001093_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"I98tBlrZOy","cam_id":"7","sample_timestamps":["000000001091_000900000000","000000001092_000400000000","000000001092_000900000000","000000001093_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001093_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.800 m/s at x-direction and 0.200 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"I98tBlrZOy"}},"extra_info":{"index":362,"token":"I98tBlrZOy","id":"I98tBlrZOy","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.83,-0.03), (1.64,-0.15), (2.42,-0.36), (3.15,-0.66), (3.83,-1.06), (4.45,-1.56), (5.01,-2.15), (5.50,-2.83), (5.93,-3.58), (6.28,-4.38)]\nOption B\n  waypoints xy: [(0.97,0.02), (1.93,0.07), (2.89,0.13), (3.82,0.22), (4.73,0.33), (5.60,0.46), (6.43,0.60), (7.21,0.77), (7.95,0.95), (8.64,1.16)]\nOption C\n  waypoints xy: [(7.96,-0.04), (15.92,-0.12), (23.88,-0.26), (31.85,-0.45), (39.81,-0.66), (47.76,-0.91), (55.70,-1.18), (63.61,-1.46), (71.50,-1.76), (79.36,-2.04)]\nOption D\n  waypoints xy: [(4.14,0.01), (8.24,0.04), (12.30,0.08), (16.32,0.13), (20.33,0.18), (24.31,0.23), (28.27,0.28), (32.22,0.32), (36.16,0.36), (40.07,0.40)]\nOption E\n  waypoints xy: [(9.58,0.00), (19.09,0.02), (28.50,0.07), (37.80,0.13), (47.00,0.19), (56.09,0.24), (65.06,0.30), (73.89,0.34), (82.59,0.37), (91.17,0.39)]\nOption F\n  waypoints xy: [(5.51,-0.01), (11.02,-0.03), (16.54,-0.07), (22.05,-0.12), (27.57,-0.17), (33.09,-0.24), (38.61,-0.31), (44.14,-0.37), (49.65,-0.41), (55.11,-0.44)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.8110770276274835,"cv_gap":5.799}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/eb76b10c25148e0587398b9bdbb78871-155/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/eb76b10c25148e0587398b9bdbb78871-155/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/eb76b10c25148e0587398b9bdbb78871-155/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.154 m/s at x-direction and 0.150 m/s at y-direction. The ego vehicle's current acceleration is -1.014 m/s^2 at x-direction and -0.431 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::eb76b10c25148e0587398b9bdbb78871-155"}},"extra_info":{"index":363,"token":"waymo_e2e::eb76b10c25148e0587398b9bdbb78871-155","id":"waymo_e2e::eb76b10c25148e0587398b9bdbb78871-155","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.99,0.08), (8.00,0.29), (12.03,0.67), (16.04,1.23), (19.98,1.97), (23.82,2.89), (27.54,3.97), (31.11,5.20), (34.55,6.54), (37.86,7.94)]\nOption B\n  waypoints xy: [(2.38,-0.61), (4.72,-1.93), (6.87,-4.00), (8.80,-6.78), (10.58,-10.15), (12.35,-14.03), (14.18,-18.33), (16.12,-22.98), (18.13,-27.88), (20.21,-32.97)]\nOption C\n  waypoints xy: [(0.62,-0.03), (1.22,-0.13), (1.81,-0.30), (2.38,-0.55), (2.93,-0.86), (3.45,-1.23), (3.93,-1.66), (4.38,-2.13), (4.79,-2.63), (5.17,-3.16)]\nOption D\n  waypoints xy: [(2.80,-0.00), (5.92,-0.01), (9.35,-0.02), (13.03,-0.04), (16.95,-0.05), (21.06,-0.06), (25.32,-0.08), (29.71,-0.11), (34.17,-0.14), (38.67,-0.17)]\nOption E\n  waypoints xy: [(5.08,0.02), (10.16,0.06), (15.22,0.11), (20.28,0.17), (25.35,0.23), (30.43,0.29), (35.51,0.36), (40.60,0.43), (45.68,0.50), (50.76,0.57)]\nOption F\n  waypoints xy: [(4.85,0.01), (9.94,0.01), (15.22,0.00), (20.65,-0.01), (26.15,-0.03), (31.70,-0.04), (37.29,-0.05), (42.89,-0.05), (48.52,-0.07), (54.17,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.154800989589825,"cv_gap":46.239}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"8U4MbqmcfD","cam_id":"4_resize","sample_timestamps":["000000005640_000050000000","000000005640_000300000000","000000005640_000550000000","000000005640_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005640_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8U4MbqmcfD","cam_id":"2","sample_timestamps":["000000005639_000300000000","000000005639_000800000000","000000005640_000300000000","000000005640_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005640_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8U4MbqmcfD","cam_id":"7","sample_timestamps":["000000005639_000300000000","000000005639_000800000000","000000005640_000300000000","000000005640_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005640_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.300 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"8U4MbqmcfD"}},"extra_info":{"index":364,"token":"8U4MbqmcfD","id":"8U4MbqmcfD","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.47,0.00), (2.57,0.01), (3.35,0.01), (3.89,0.01), (4.24,0.01), (4.48,0.02), (4.68,0.02), (4.83,0.02), (4.89,0.02), (4.89,0.02)]\nOption B\n  waypoints xy: [(1.65,0.01), (3.32,0.02), (5.00,0.03), (6.67,0.06), (8.33,0.08), (9.95,0.11), (11.54,0.14), (13.09,0.17), (14.63,0.20), (16.15,0.23)]\nOption C\n  waypoints xy: [(5.70,0.02), (11.35,0.09), (16.95,0.21), (22.49,0.40), (27.97,0.61), (33.40,0.86), (38.80,1.11), (44.14,1.35), (49.44,1.57), (54.70,1.76)]\nOption D\n  waypoints xy: [(5.36,-0.02), (10.74,-0.04), (16.18,-0.07), (21.62,-0.08), (26.94,-0.08), (32.25,-0.08), (37.61,-0.09), (43.03,-0.08), (48.50,-0.04), (54.00,0.03)]\nOption E\n  waypoints xy: [(4.71,-0.02), (9.42,-0.08), (14.10,-0.16), (18.73,-0.26), (23.27,-0.39), (27.71,-0.54), (32.06,-0.69), (36.32,-0.84), (40.48,-0.99), (44.53,-1.14)]\nOption F\n  waypoints xy: [(4.19,0.04), (8.48,0.13), (12.86,0.26), (17.33,0.44), (21.88,0.65), (26.48,0.89), (31.10,1.15), (35.71,1.43), (40.31,1.71), (44.90,1.98)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.3015148038438356,"cv_gap":11.53}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"I0rRkMrO9l","cam_id":"4_resize","sample_timestamps":["000000001724_000900000000","000000001725_000400000000","000000001725_000900000000","000000001726_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001726_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"I0rRkMrO9l","cam_id":"2","sample_timestamps":["000000001724_000900000000","000000001725_000400000000","000000001725_000900000000","000000001726_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001726_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"I0rRkMrO9l","cam_id":"7","sample_timestamps":["000000001724_000900000000","000000001725_000400000000","000000001725_000900000000","000000001726_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001726_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 10.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"I0rRkMrO9l"}},"extra_info":{"index":365,"token":"I0rRkMrO9l","id":"I0rRkMrO9l","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.23,-0.00), (10.48,-0.01), (15.74,-0.00), (21.02,-0.00), (26.30,0.00), (31.58,0.01), (36.85,0.01), (42.12,0.01), (47.36,0.02), (52.59,0.02)]\nOption B\n  waypoints xy: [(1.14,-0.04), (2.59,-0.19), (4.29,-0.53), (6.13,-1.20), (7.97,-2.28), (9.70,-3.82), (11.17,-5.86), (12.31,-8.35), (13.13,-11.25), (13.75,-14.50)]\nOption C\n  waypoints xy: [(1.85,0.21), (3.73,0.74), (5.53,1.68), (7.12,3.05), (8.37,4.80), (9.27,6.83), (9.86,9.08), (10.27,11.50), (10.57,14.08), (10.81,16.78)]\nOption D\n  waypoints xy: [(5.97,0.01), (11.90,0.02), (17.78,0.05), (23.61,0.09), (29.40,0.13), (35.09,0.18), (40.66,0.23), (46.08,0.28), (51.36,0.33), (56.50,0.38)]\nOption E\n  waypoints xy: [(6.22,0.00), (12.44,0.00), (18.63,0.00), (24.80,0.01), (30.92,0.02), (36.99,0.03), (43.02,0.06), (48.99,0.09), (54.91,0.12), (60.77,0.16)]\nOption F\n  waypoints xy: [(4.29,-0.01), (8.21,-0.04), (11.66,-0.08), (14.55,-0.13), (16.81,-0.18), (18.39,-0.21), (19.31,-0.23), (19.74,-0.24), (19.90,-0.25), (19.98,-0.25)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.5,"cv_gap":32.012}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"2H4OmThhUw","cam_id":"4_resize","sample_timestamps":["001747678638_000700000000","001747678639_000200000000","001747678639_000700000000","001747678640_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001747678640_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2H4OmThhUw","cam_id":"2","sample_timestamps":["001747678638_000700000000","001747678639_000200000000","001747678639_000700000000","001747678640_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001747678640_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2H4OmThhUw","cam_id":"7","sample_timestamps":["001747678638_000700000000","001747678639_000200000000","001747678639_000700000000","001747678640_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001747678640_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"2H4OmThhUw"}},"extra_info":{"index":366,"token":"2H4OmThhUw","id":"2H4OmThhUw","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.12,0.00), (8.24,0.01), (12.32,0.02), (16.35,0.03), (20.34,0.04), (24.28,0.03), (28.19,0.02), (32.06,-0.00), (35.87,-0.03), (39.66,-0.06)]\nOption B\n  waypoints xy: [(3.52,0.01), (7.04,0.05), (10.57,0.12), (14.11,0.23), (17.64,0.39), (21.18,0.60), (24.72,0.87), (28.25,1.19), (31.80,1.53), (35.35,1.86)]\nOption C\n  waypoints xy: [(1.38,0.01), (2.41,0.01), (3.10,0.01), (3.48,0.02), (3.63,0.02), (3.66,0.02), (3.66,0.02), (3.67,0.02), (3.69,0.02), (3.76,0.02)]\nOption D\n  waypoints xy: [(6.96,0.03), (13.81,0.12), (20.55,0.29), (27.13,0.54), (33.54,0.88), (39.75,1.26), (45.71,1.64), (51.38,2.00), (56.75,2.32), (61.79,2.59)]\nOption E\n  waypoints xy: [(3.43,-0.06), (6.86,-0.18), (10.26,-0.40), (13.66,-0.70), (17.05,-1.06), (20.42,-1.47), (23.77,-1.90), (27.09,-2.34), (30.37,-2.78), (33.59,-3.23)]\nOption F\n  waypoints xy: [(1.82,-0.00), (3.65,-0.01), (5.47,-0.02), (7.28,-0.03), (9.08,-0.05), (10.87,-0.07), (12.66,-0.10), (14.44,-0.13), (16.20,-0.16), (17.94,-0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.6,"cv_gap":14.295}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"GPdBdWW5GX","cam_id":"4_resize","sample_timestamps":["000000006318_000900000000","000000006319_000400000000","000000006319_000900000000","000000006320_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006320_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"GPdBdWW5GX","cam_id":"2","sample_timestamps":["000000006318_000900000000","000000006319_000400000000","000000006319_000900000000","000000006320_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006320_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"GPdBdWW5GX","cam_id":"7","sample_timestamps":["000000006318_000900000000","000000006319_000400000000","000000006319_000900000000","000000006320_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006320_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.700 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"GPdBdWW5GX"}},"extra_info":{"index":367,"token":"GPdBdWW5GX","id":"GPdBdWW5GX","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.68,0.02), (9.40,0.05), (14.13,0.07), (18.89,0.09), (23.66,0.11), (28.45,0.13), (33.25,0.14), (38.07,0.13), (42.91,0.12), (47.76,0.09)]\nOption B\n  waypoints xy: [(4.22,-0.05), (8.56,-0.19), (12.97,-0.30), (17.35,-0.40), (21.69,-0.40), (25.99,-0.35), (30.26,-0.26), (34.46,-0.16), (38.59,-0.07), (42.57,0.01)]\nOption C\n  waypoints xy: [(5.68,-0.01), (11.36,-0.01), (17.02,-0.00), (22.69,0.04), (28.33,0.15), (33.93,0.32), (39.45,0.55), (44.90,0.83), (50.28,1.14), (55.59,1.47)]\nOption D\n  waypoints xy: [(12.62,-0.07), (25.27,-0.30), (37.96,-0.70), (50.64,-1.28), (63.31,-2.04), (75.94,-2.99), (88.52,-4.10), (101.08,-5.38), (113.63,-6.83), (126.18,-8.45)]\nOption E\n  waypoints xy: [(1.82,-0.01), (3.69,-0.02), (5.61,-0.03), (7.58,-0.05), (9.56,-0.08), (11.53,-0.10), (13.46,-0.13), (15.35,-0.17), (17.20,-0.21), (19.00,-0.26)]\nOption F\n  waypoints xy: [(1.15,-0.00), (2.00,-0.01), (2.54,-0.01), (2.79,-0.01), (2.86,-0.01), (2.87,-0.01), (2.87,-0.01), (2.88,-0.01), (2.90,-0.01), (2.98,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.8,"cv_gap":15.963}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"FrNZKw3rEe","cam_id":"4_resize","sample_timestamps":["000000006914_000400000000","000000006914_000900000000","000000006915_000400000000","000000006915_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006915_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"FrNZKw3rEe","cam_id":"2","sample_timestamps":["000000006914_000400000000","000000006914_000900000000","000000006915_000400000000","000000006915_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006915_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"FrNZKw3rEe","cam_id":"7","sample_timestamps":["000000006914_000400000000","000000006914_000900000000","000000006915_000400000000","000000006915_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006915_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 9.100 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and 0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"FrNZKw3rEe"}},"extra_info":{"index":368,"token":"FrNZKw3rEe","id":"FrNZKw3rEe","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.63,-0.42), (3.21,-1.18), (4.62,-2.27), (5.85,-3.59), (6.94,-5.06), (7.92,-6.58), (8.84,-8.08), (9.75,-9.56), (10.67,-11.10), (11.63,-12.69)]\nOption B\n  waypoints xy: [(7.98,0.01), (15.98,0.04), (24.00,0.09), (32.04,0.16), (40.10,0.23), (48.17,0.31), (56.22,0.38), (64.24,0.45), (72.23,0.52), (80.18,0.57)]\nOption C\n  waypoints xy: [(0.21,0.01), (0.56,0.03), (1.22,0.08), (2.33,0.24), (3.90,0.65), (5.84,1.52), (7.91,3.01), (9.89,5.18), (11.57,8.00), (12.89,11.34)]\nOption D\n  waypoints xy: [(4.08,-0.01), (7.58,-0.04), (10.47,-0.09), (12.73,-0.15), (14.42,-0.20), (15.66,-0.24), (16.49,-0.27), (16.95,-0.29), (17.15,-0.29), (17.20,-0.30)]\nOption E\n  waypoints xy: [(4.37,-0.02), (8.83,-0.04), (13.36,-0.08), (17.94,-0.13), (22.54,-0.19), (27.17,-0.25), (31.81,-0.33), (36.44,-0.42), (41.06,-0.51), (45.63,-0.60)]\nOption F\n  waypoints xy: [(7.54,-0.01), (15.06,-0.01), (22.55,-0.02), (29.98,-0.01), (37.38,-0.01), (44.75,-0.00), (52.12,0.01), (59.48,0.02), (66.84,0.05), (74.20,0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.100549433962765,"cv_gap":29.033}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"AQn3F7AFGX","cam_id":"4_resize","sample_timestamps":["000000000834_000100000000","000000000834_000600000000","000000000835_000100000000","000000000835_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000835_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"AQn3F7AFGX","cam_id":"2","sample_timestamps":["000000000834_000100000000","000000000834_000600000000","000000000835_000100000000","000000000835_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000835_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"AQn3F7AFGX","cam_id":"7","sample_timestamps":["000000000834_000100000000","000000000834_000600000000","000000000835_000100000000","000000000835_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000835_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.300 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"AQn3F7AFGX"}},"extra_info":{"index":369,"token":"AQn3F7AFGX","id":"AQn3F7AFGX","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.14,-0.00), (6.49,-0.02), (10.05,-0.03), (13.78,-0.07), (17.67,-0.11), (21.69,-0.17), (25.81,-0.24), (30.02,-0.33), (34.29,-0.44), (38.60,-0.55)]\nOption B\n  waypoints xy: [(5.52,-0.01), (10.94,-0.03), (16.23,-0.06), (21.35,-0.10), (26.26,-0.14), (30.93,-0.18), (35.32,-0.23), (39.40,-0.26), (43.15,-0.30), (46.57,-0.33)]\nOption C\n  waypoints xy: [(4.28,0.17), (8.32,0.63), (12.15,1.41), (15.74,2.55), (19.09,4.07), (22.16,5.92), (24.92,8.06), (27.35,10.44), (29.42,13.02), (31.18,15.75)]\nOption D\n  waypoints xy: [(1.38,0.01), (2.41,0.01), (3.10,0.01), (3.48,0.02), (3.63,0.02), (3.66,0.02), (3.66,0.02), (3.67,0.02), (3.69,0.02), (3.76,0.02)]\nOption E\n  waypoints xy: [(1.65,0.01), (3.32,0.02), (5.00,0.03), (6.67,0.06), (8.33,0.08), (9.95,0.11), (11.54,0.14), (13.09,0.17), (14.63,0.20), (16.15,0.23)]\nOption F\n  waypoints xy: [(7.42,0.03), (14.86,0.10), (22.31,0.21), (29.76,0.34), (37.22,0.50), (44.69,0.69), (52.15,0.92), (59.60,1.18), (67.06,1.45), (74.51,1.74)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.3,"cv_gap":12.813}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"XhjR63JrnH","cam_id":"4_resize","sample_timestamps":["000000008204_000800000000","000000008205_000300000000","000000008205_000800000000","000000008206_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000008206_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XhjR63JrnH","cam_id":"2","sample_timestamps":["000000008204_000800000000","000000008205_000300000000","000000008205_000800000000","000000008206_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000008206_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XhjR63JrnH","cam_id":"7","sample_timestamps":["000000008204_000800000000","000000008205_000300000000","000000008205_000800000000","000000008206_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000008206_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.200 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.600 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"XhjR63JrnH"}},"extra_info":{"index":370,"token":"XhjR63JrnH","id":"XhjR63JrnH","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.24,-0.03), (8.48,-0.10), (12.72,-0.17), (16.97,-0.23), (21.21,-0.28), (25.45,-0.31), (29.69,-0.32), (33.92,-0.31), (38.15,-0.29), (42.37,-0.27)]\nOption B\n  waypoints xy: [(5.52,0.01), (11.21,0.02), (17.04,0.05), (23.01,0.10), (29.10,0.19), (35.28,0.32), (41.53,0.48), (47.82,0.70), (54.13,0.95), (60.44,1.24)]\nOption C\n  waypoints xy: [(11.80,-0.03), (23.62,-0.09), (35.46,-0.14), (47.29,-0.14), (59.11,-0.13), (70.93,-0.13), (82.75,-0.17), (94.54,-0.22), (106.33,-0.26), (118.17,-0.31)]\nOption D\n  waypoints xy: [(1.63,0.00), (3.23,0.00), (4.83,0.00), (6.42,0.00), (8.02,0.02), (9.62,0.04), (11.23,0.06), (12.82,0.09), (14.39,0.15), (15.94,0.20)]\nOption E\n  waypoints xy: [(0.86,0.00), (1.42,0.01), (1.71,0.00), (1.82,0.01), (1.82,0.00), (1.82,0.00), (1.82,0.00), (1.82,0.00), (1.82,0.00), (1.82,0.00)]\nOption F\n  waypoints xy: [(1.96,0.00), (4.41,0.01), (7.37,0.02), (10.80,0.04), (14.69,0.06), (19.01,0.09), (23.70,0.12), (28.70,0.14), (33.95,0.16), (39.41,0.16)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.2,"cv_gap":14.062}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"yCCj4Hb8hd","cam_id":"4_resize","sample_timestamps":["000000016792_000550000000","000000016792_000800000000","000000016793_000050000000","000000016793_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000016793_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"yCCj4Hb8hd","cam_id":"2","sample_timestamps":["000000016791_000800000000","000000016792_000300000000","000000016792_000800000000","000000016793_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000016793_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"yCCj4Hb8hd","cam_id":"7","sample_timestamps":["000000016791_000800000000","000000016792_000300000000","000000016792_000800000000","000000016793_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000016793_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.300 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"yCCj4Hb8hd"}},"extra_info":{"index":371,"token":"yCCj4Hb8hd","id":"yCCj4Hb8hd","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.85,-0.00), (1.70,-0.00), (2.55,-0.01), (3.39,-0.01), (4.24,-0.02), (5.09,-0.03), (5.93,-0.04), (6.76,-0.07), (7.57,-0.09), (8.38,-0.10)]\nOption B\n  waypoints xy: [(0.62,-0.00), (0.97,-0.00), (1.10,-0.00), (1.11,-0.00), (1.11,-0.00), (1.11,-0.00), (1.11,-0.00), (1.11,-0.00), (1.11,-0.00), (1.12,-0.00)]\nOption C\n  waypoints xy: [(5.09,-0.01), (10.16,-0.01), (15.18,-0.02), (20.11,-0.02), (24.92,-0.03), (29.58,-0.03), (34.02,-0.03), (38.20,-0.03), (42.10,-0.04), (45.71,-0.05)]\nOption D\n  waypoints xy: [(5.63,0.01), (11.42,0.03), (17.37,0.06), (23.45,0.10), (29.63,0.13), (35.91,0.16), (42.26,0.18), (48.67,0.21), (55.11,0.24), (61.57,0.29)]\nOption E\n  waypoints xy: [(7.14,-0.01), (14.26,-0.02), (21.37,-0.05), (28.47,-0.08), (35.58,-0.12), (42.69,-0.15), (49.81,-0.19), (56.90,-0.23), (63.97,-0.28), (71.01,-0.34)]\nOption F\n  waypoints xy: [(6.78,-0.04), (13.55,-0.12), (20.30,-0.27), (27.02,-0.47), (33.69,-0.72), (40.32,-1.01), (46.91,-1.32), (53.45,-1.66), (59.94,-2.00), (66.36,-2.35)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.7,"cv_gap":7.343}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/cccd6b5049ee1a657cd5935a198f124f-176/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/cccd6b5049ee1a657cd5935a198f124f-176/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/cccd6b5049ee1a657cd5935a198f124f-176/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.600 m/s at x-direction and 0.004 m/s at y-direction. The ego vehicle's current acceleration is 0.121 m/s^2 at x-direction and -0.217 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::cccd6b5049ee1a657cd5935a198f124f-176"}},"extra_info":{"index":372,"token":"waymo_e2e::cccd6b5049ee1a657cd5935a198f124f-176","id":"waymo_e2e::cccd6b5049ee1a657cd5935a198f124f-176","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.13,0.00), (2.53,0.01), (4.22,0.02), (6.22,0.06), (8.55,0.15), (11.19,0.33), (14.07,0.57), (17.15,0.85), (20.43,1.16), (23.91,1.47)]\nOption B\n  waypoints xy: [(2.18,-0.31), (4.30,-1.00), (6.25,-2.12), (7.91,-3.68), (9.24,-5.65), (10.25,-7.97), (11.03,-10.61), (11.68,-13.55), (12.27,-16.77), (12.85,-20.23)]\nOption C\n  waypoints xy: [(2.53,-0.01), (4.94,-0.01), (7.22,-0.01), (9.39,-0.01), (11.53,-0.01), (13.72,0.01), (16.03,0.03), (18.52,0.07), (21.17,0.11), (23.97,0.14)]\nOption D\n  waypoints xy: [(6.76,-0.01), (13.52,-0.02), (20.30,-0.04), (27.06,-0.07), (33.83,-0.12), (40.59,-0.18), (47.34,-0.26), (54.07,-0.36), (60.74,-0.48), (67.38,-0.62)]\nOption E\n  waypoints xy: [(1.82,-0.00), (3.65,-0.01), (5.47,-0.02), (7.28,-0.03), (9.08,-0.05), (10.87,-0.07), (12.66,-0.10), (14.44,-0.13), (16.20,-0.16), (17.94,-0.20)]\nOption F\n  waypoints xy: [(8.79,-0.02), (17.36,-0.05), (25.68,-0.06), (33.76,-0.00), (41.66,0.14), (49.41,0.36), (56.95,0.57), (64.11,0.79), (70.86,1.01), (77.23,1.28)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.6003920443519943,"cv_gap":21.259}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ZbeVTfD8bj","cam_id":"4_resize","sample_timestamps":["000000000624_000800000000","000000000625_000300000000","000000000625_000800000000","000000000626_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000626_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ZbeVTfD8bj","cam_id":"2","sample_timestamps":["000000000624_000800000000","000000000625_000300000000","000000000625_000800000000","000000000626_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000626_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ZbeVTfD8bj","cam_id":"7","sample_timestamps":["000000000624_000800000000","000000000625_000300000000","000000000625_000800000000","000000000626_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000626_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.500 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and 0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"ZbeVTfD8bj"}},"extra_info":{"index":373,"token":"ZbeVTfD8bj","id":"ZbeVTfD8bj","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.62,-0.00), (0.97,-0.00), (1.10,-0.00), (1.11,-0.00), (1.11,-0.00), (1.11,-0.00), (1.11,-0.00), (1.11,-0.00), (1.11,-0.00), (1.12,-0.00)]\nOption B\n  waypoints xy: [(3.94,0.04), (7.92,0.13), (11.93,0.28), (15.94,0.48), (19.94,0.77), (23.95,1.14), (27.94,1.54), (31.94,1.93), (35.97,2.20), (40.02,2.35)]\nOption C\n  waypoints xy: [(4.43,-0.01), (8.79,-0.05), (13.10,-0.09), (17.36,-0.16), (21.60,-0.27), (25.82,-0.42), (30.04,-0.61), (34.28,-0.85), (38.53,-1.13), (42.80,-1.42)]\nOption D\n  waypoints xy: [(8.18,0.04), (16.36,0.12), (24.55,0.25), (32.76,0.41), (40.99,0.64), (49.23,0.91), (57.53,1.23), (65.85,1.59), (74.18,1.98), (82.51,2.41)]\nOption E\n  waypoints xy: [(3.95,-0.01), (7.90,-0.02), (11.81,-0.04), (15.66,-0.06), (19.43,-0.09), (23.10,-0.12), (26.68,-0.15), (30.16,-0.20), (33.54,-0.26), (36.82,-0.33)]\nOption F\n  waypoints xy: [(0.81,-0.02), (1.64,-0.04), (2.47,-0.08), (3.27,-0.13), (4.04,-0.18), (4.74,-0.23), (5.41,-0.28), (6.05,-0.34), (6.70,-0.40), (7.35,-0.47)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5033296378372907,"cv_gap":6.304}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/dda185bd08a5ad23d60ffad3ddba76c5-134/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/dda185bd08a5ad23d60ffad3ddba76c5-134/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/dda185bd08a5ad23d60ffad3ddba76c5-134/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 8.891 m/s at x-direction and -0.037 m/s at y-direction. The ego vehicle's current acceleration is -0.242 m/s^2 at x-direction and -0.026 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::dda185bd08a5ad23d60ffad3ddba76c5-134"}},"extra_info":{"index":374,"token":"waymo_e2e::dda185bd08a5ad23d60ffad3ddba76c5-134","id":"waymo_e2e::dda185bd08a5ad23d60ffad3ddba76c5-134","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(9.01,0.09), (17.96,0.35), (26.83,0.76), (35.62,1.32), (44.31,1.95), (52.91,2.67), (61.41,3.42), (69.82,4.21), (78.12,5.03), (86.29,5.86)]\nOption B\n  waypoints xy: [(1.58,0.24), (3.16,0.74), (4.71,1.47), (6.25,2.44), (7.77,3.60), (9.27,4.92), (10.73,6.39), (12.18,7.99), (13.62,9.71), (15.04,11.55)]\nOption C\n  waypoints xy: [(4.40,-0.00), (8.83,-0.01), (13.27,-0.01), (17.71,-0.01), (22.16,-0.02), (26.61,-0.03), (31.05,-0.05), (35.48,-0.08), (39.88,-0.10), (44.25,-0.12)]\nOption D\n  waypoints xy: [(4.26,0.00), (8.11,0.01), (11.44,0.02), (14.19,0.03), (16.28,0.03), (17.66,0.03), (18.41,0.04), (18.73,0.04), (18.85,0.04), (18.95,0.04)]\nOption E\n  waypoints xy: [(1.70,-0.14), (3.48,-0.52), (5.24,-1.21), (6.88,-2.29), (8.28,-3.76), (9.36,-5.58), (10.11,-7.71), (10.56,-10.11), (10.80,-12.72), (10.93,-15.51)]\nOption F\n  waypoints xy: [(6.00,-0.01), (12.06,-0.04), (18.18,-0.08), (24.36,-0.12), (30.59,-0.17), (36.88,-0.22), (43.20,-0.25), (49.56,-0.26), (55.95,-0.27), (62.37,-0.26)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.89125464997164,"cv_gap":25.613}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"X4iy8wBRG7","cam_id":"4_resize","sample_timestamps":["000000015090_000300000000","000000015090_000800000000","000000015091_000300000000","000000015091_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000015091_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"X4iy8wBRG7","cam_id":"2","sample_timestamps":["000000015090_000300000000","000000015090_000800000000","000000015091_000300000000","000000015091_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000015091_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"X4iy8wBRG7","cam_id":"7","sample_timestamps":["000000015090_000300000000","000000015090_000800000000","000000015091_000300000000","000000015091_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000015091_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 7.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"X4iy8wBRG7"}},"extra_info":{"index":375,"token":"X4iy8wBRG7","id":"X4iy8wBRG7","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.91,-0.42), (1.53,-0.87), (2.02,-1.37), (2.47,-2.01), (2.91,-2.87), (3.37,-3.97), (3.82,-5.30), (4.25,-6.89), (4.76,-8.70), (5.36,-10.69)]\nOption B\n  waypoints xy: [(3.90,-0.00), (7.74,-0.01), (11.54,-0.01), (15.30,-0.03), (19.05,-0.04), (22.78,-0.06), (26.54,-0.09), (30.32,-0.12), (34.14,-0.14), (37.96,-0.17)]\nOption C\n  waypoints xy: [(6.79,-0.01), (13.96,-0.03), (21.41,-0.05), (29.05,-0.07), (36.81,-0.10), (44.66,-0.12), (52.57,-0.15), (60.45,-0.18), (68.29,-0.20), (76.06,-0.23)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(7.74,-0.02), (15.46,-0.07), (23.20,-0.12), (30.96,-0.19), (38.71,-0.26), (46.48,-0.33), (54.26,-0.41), (62.06,-0.49), (69.86,-0.56), (77.67,-0.65)]\nOption F\n  waypoints xy: [(3.10,-0.00), (5.83,-0.00), (8.14,0.01), (9.97,0.02), (11.30,0.03), (12.16,0.04), (12.60,0.04), (12.75,0.04), (12.78,0.04), (12.82,0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.6,"cv_gap":24.835}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"8wQkbFCF8w","cam_id":"4_resize","sample_timestamps":["000000005422_000400000000","000000005422_000900000000","000000005423_000400000000","000000005423_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005423_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8wQkbFCF8w","cam_id":"2","sample_timestamps":["000000005422_000400000000","000000005422_000900000000","000000005423_000400000000","000000005423_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005423_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8wQkbFCF8w","cam_id":"7","sample_timestamps":["000000005422_000400000000","000000005422_000900000000","000000005423_000400000000","000000005423_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005423_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.400 m/s at x-direction and -0.200 m/s at y-direction. The ego vehicle's current acceleration is 0.000 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"8wQkbFCF8w"}},"extra_info":{"index":376,"token":"8wQkbFCF8w","id":"8wQkbFCF8w","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.25,-0.05), (8.41,-0.05), (12.48,-0.05), (16.40,-0.09), (20.07,-0.04), (23.46,-0.04), (26.63,-0.04), (29.58,-0.04), (32.29,-0.00), (34.69,-0.00)]\nOption B\n  waypoints xy: [(3.96,-0.00), (8.01,-0.01), (12.13,-0.00), (16.32,0.01), (20.58,0.03), (24.91,0.04), (29.30,0.06), (33.75,0.07), (38.21,0.09), (42.69,0.11)]\nOption C\n  waypoints xy: [(4.32,-0.01), (8.90,-0.01), (13.72,-0.02), (18.76,-0.03), (24.00,-0.02), (29.37,-0.01), (34.85,0.01), (40.42,0.04), (46.05,0.07), (51.70,0.10)]\nOption D\n  waypoints xy: [(1.04,0.05), (2.02,0.24), (2.94,0.56), (3.76,1.04), (4.50,1.66), (5.14,2.41), (5.69,3.31), (6.15,4.32), (6.51,5.44), (6.80,6.62)]\nOption E\n  waypoints xy: [(1.31,-0.02), (2.60,-0.07), (3.82,-0.15), (4.99,-0.24), (6.15,-0.36), (7.30,-0.49), (8.47,-0.62), (9.64,-0.78), (10.81,-0.95), (11.98,-1.14)]\nOption F\n  waypoints xy: [(5.00,-0.00), (9.84,-0.00), (14.45,0.01), (18.69,0.02), (22.52,0.03), (25.96,0.05), (29.04,0.06), (31.69,0.08), (33.92,0.09), (35.72,0.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.4083189157584592,"cv_gap":9.088}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/51b54fcb826b2fed862a83f37b91a838-091/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/51b54fcb826b2fed862a83f37b91a838-091/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/51b54fcb826b2fed862a83f37b91a838-091/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.439 m/s at x-direction and -0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.285 m/s^2 at x-direction and -0.069 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::51b54fcb826b2fed862a83f37b91a838-091"}},"extra_info":{"index":377,"token":"waymo_e2e::51b54fcb826b2fed862a83f37b91a838-091","id":"waymo_e2e::51b54fcb826b2fed862a83f37b91a838-091","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption B\n  waypoints xy: [(2.26,0.00), (4.53,0.01), (6.80,0.02), (9.06,0.04), (11.30,0.06), (13.51,0.08), (15.69,0.10), (17.83,0.12), (19.93,0.13), (22.00,0.16)]\nOption C\n  waypoints xy: [(1.86,-0.01), (3.41,-0.01), (4.60,-0.02), (5.41,-0.02), (5.85,-0.03), (5.99,-0.03), (6.01,-0.03), (6.02,-0.03), (6.03,-0.03), (6.07,-0.03)]\nOption D\n  waypoints xy: [(4.97,0.00), (9.69,0.01), (14.10,0.01), (18.13,0.02), (21.72,0.01), (24.84,0.01), (27.48,0.00), (29.64,-0.01), (31.31,-0.01), (32.54,-0.01)]\nOption E\n  waypoints xy: [(11.80,-0.03), (23.62,-0.09), (35.46,-0.14), (47.29,-0.14), (59.11,-0.13), (70.93,-0.13), (82.75,-0.17), (94.54,-0.22), (106.33,-0.26), (118.17,-0.31)]\nOption F\n  waypoints xy: [(5.26,0.00), (10.51,0.01), (15.75,0.02), (20.97,0.04), (26.18,0.06), (31.40,0.08), (36.63,0.09), (41.84,0.11), (47.06,0.12), (52.26,0.13)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.438583068729866,"cv_gap":16.098}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/62424db49d30f1487f147cf1f3a69db2-172/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/62424db49d30f1487f147cf1f3a69db2-172/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/62424db49d30f1487f147cf1f3a69db2-172/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 5.207 m/s at x-direction and -0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.520 m/s^2 at x-direction and 0.010 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::62424db49d30f1487f147cf1f3a69db2-172"}},"extra_info":{"index":378,"token":"waymo_e2e::62424db49d30f1487f147cf1f3a69db2-172","id":"waymo_e2e::62424db49d30f1487f147cf1f3a69db2-172","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.21,0.00), (4.20,0.00), (5.95,-0.01), (7.45,-0.02), (8.71,-0.04), (9.75,-0.05), (10.56,-0.07), (11.17,-0.08), (11.61,-0.09), (11.95,-0.09)]\nOption B\n  waypoints xy: [(3.83,-0.01), (7.96,-0.01), (12.39,-0.01), (17.10,-0.01), (22.05,-0.01), (27.23,0.01), (32.57,0.02), (38.04,0.04), (43.61,0.07), (49.24,0.11)]\nOption C\n  waypoints xy: [(6.24,-0.00), (12.49,0.00), (18.72,0.01), (24.91,0.04), (30.99,0.07), (36.85,0.09), (42.41,0.12), (47.66,0.16), (52.59,0.20), (57.20,0.25)]\nOption D\n  waypoints xy: [(2.66,0.00), (5.31,0.01), (7.96,0.02), (10.58,0.03), (13.18,0.04), (15.77,0.05), (18.31,0.05), (20.79,0.06), (23.21,0.06), (25.62,0.06)]\nOption E\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption F\n  waypoints xy: [(8.95,0.00), (17.84,-0.00), (26.75,-0.00), (35.68,-0.00), (44.61,0.10), (53.58,0.10), (62.59,0.10), (71.60,0.10), (80.53,0.10), (89.36,0.19)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.207056470337015,"cv_gap":13.376}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3b0ae1df17333ccb8dd1e9bd24825de9-142/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3b0ae1df17333ccb8dd1e9bd24825de9-142/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3b0ae1df17333ccb8dd1e9bd24825de9-142/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.905 m/s at x-direction and -0.014 m/s at y-direction. The ego vehicle's current acceleration is -0.294 m/s^2 at x-direction and -0.052 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3b0ae1df17333ccb8dd1e9bd24825de9-142"}},"extra_info":{"index":379,"token":"waymo_e2e::3b0ae1df17333ccb8dd1e9bd24825de9-142","id":"waymo_e2e::3b0ae1df17333ccb8dd1e9bd24825de9-142","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.34,-0.03), (6.40,-0.08), (9.14,-0.15), (11.51,-0.25), (13.48,-0.35), (15.07,-0.46), (16.32,-0.57), (17.29,-0.65), (18.04,-0.72), (18.62,-0.76)]\nOption B\n  waypoints xy: [(13.35,-0.02), (26.75,-0.04), (40.16,-0.05), (53.48,-0.09), (66.49,-0.17), (79.30,-0.34), (92.08,-0.62), (104.88,-0.96), (117.76,-1.38), (130.72,-1.98)]\nOption C\n  waypoints xy: [(9.12,0.06), (18.29,0.15), (27.50,0.28), (36.76,0.44), (46.05,0.64), (55.36,0.85), (64.69,1.07), (74.01,1.31), (83.34,1.56), (92.68,1.82)]\nOption D\n  waypoints xy: [(3.41,-0.01), (6.82,-0.01), (10.22,-0.00), (13.62,0.01), (17.06,0.03), (20.53,0.05), (24.04,0.05), (27.59,0.04), (31.16,0.03), (34.71,0.01)]\nOption E\n  waypoints xy: [(0.96,0.09), (2.12,0.35), (3.44,0.91), (4.82,1.87), (6.13,3.27), (7.24,5.13), (8.05,7.39), (8.59,10.00), (8.94,12.91), (9.18,16.07)]\nOption F\n  waypoints xy: [(0.45,0.03), (1.16,0.11), (2.27,0.35), (3.72,0.93), (5.33,2.04), (6.86,3.75), (8.13,6.06), (9.00,8.91), (9.52,12.19), (9.78,15.84)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.905343004903994,"cv_gap":16.684}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/072ae5a4543eee1ed73e95bc93d8c243-129/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/072ae5a4543eee1ed73e95bc93d8c243-129/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/072ae5a4543eee1ed73e95bc93d8c243-129/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.766 m/s at x-direction and -0.020 m/s at y-direction. The ego vehicle's current acceleration is -0.504 m/s^2 at x-direction and -0.011 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::072ae5a4543eee1ed73e95bc93d8c243-129"}},"extra_info":{"index":380,"token":"waymo_e2e::072ae5a4543eee1ed73e95bc93d8c243-129","id":"waymo_e2e::072ae5a4543eee1ed73e95bc93d8c243-129","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.40,-0.00), (4.81,-0.01), (7.21,-0.01), (9.60,-0.01), (11.97,-0.02), (14.32,-0.03), (16.65,-0.04), (18.97,-0.05), (21.28,-0.07), (23.58,-0.09)]\nOption B\n  waypoints xy: [(6.82,-0.10), (13.68,-0.38), (20.56,-0.82), (27.47,-1.42), (34.42,-2.14), (41.41,-2.97), (48.45,-3.89), (55.52,-4.85), (62.65,-5.83), (69.81,-6.83)]\nOption C\n  waypoints xy: [(7.12,0.00), (14.26,0.01), (21.45,0.03), (28.67,0.05), (35.93,0.08), (43.21,0.11), (50.48,0.14), (57.75,0.16), (65.02,0.19), (72.26,0.22)]\nOption D\n  waypoints xy: [(4.45,0.01), (8.91,0.04), (13.39,0.09), (17.88,0.14), (22.38,0.21), (26.88,0.28), (31.36,0.35), (35.83,0.42), (40.25,0.49), (44.63,0.56)]\nOption E\n  waypoints xy: [(2.16,-0.01), (3.71,-0.01), (4.61,-0.01), (4.97,-0.01), (5.02,-0.01), (5.02,-0.01), (5.02,-0.01), (5.02,-0.01), (5.03,-0.01), (5.13,-0.01)]\nOption F\n  waypoints xy: [(6.28,0.00), (12.20,-0.06), (17.83,-0.06), (23.15,-0.19), (28.15,-0.30), (32.82,-0.52), (37.09,-0.71), (40.94,-0.98), (44.44,-1.22), (47.64,-1.45)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.765861742218994,"cv_gap":18.68}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/450910c0dc4eded544737d693ee38b1b-143/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/450910c0dc4eded544737d693ee38b1b-143/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/450910c0dc4eded544737d693ee38b1b-143/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.006 m/s at x-direction and -0.017 m/s at y-direction. The ego vehicle's current acceleration is -0.341 m/s^2 at x-direction and 0.003 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::450910c0dc4eded544737d693ee38b1b-143"}},"extra_info":{"index":381,"token":"waymo_e2e::450910c0dc4eded544737d693ee38b1b-143","id":"waymo_e2e::450910c0dc4eded544737d693ee38b1b-143","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.79,-0.05), (1.86,-0.20), (3.18,-0.51), (4.68,-1.11), (6.22,-2.15), (7.62,-3.70), (8.74,-5.77), (9.53,-8.30), (10.08,-11.26), (10.52,-14.58)]\nOption B\n  waypoints xy: [(3.37,-0.00), (6.48,-0.00), (9.32,0.00), (11.82,0.00), (13.93,0.01), (15.59,0.01), (16.79,0.01), (17.54,0.01), (17.91,0.01), (18.06,0.01)]\nOption C\n  waypoints xy: [(3.40,-0.01), (6.84,-0.02), (10.33,-0.04), (13.83,-0.06), (17.36,-0.07), (20.91,-0.07), (24.46,-0.06), (27.99,-0.05), (31.49,-0.04), (34.92,-0.03)]\nOption D\n  waypoints xy: [(7.32,0.00), (14.64,-0.00), (21.96,-0.02), (29.28,-0.04), (36.59,-0.08), (43.90,-0.14), (51.20,-0.21), (58.49,-0.27), (65.74,-0.33), (72.98,-0.39)]\nOption E\n  waypoints xy: [(7.40,0.01), (14.87,0.03), (22.39,0.06), (29.98,0.11), (37.64,0.15), (45.35,0.22), (53.09,0.28), (60.87,0.36), (68.67,0.42), (76.45,0.48)]\nOption F\n  waypoints xy: [(1.75,0.16), (3.51,0.57), (5.21,1.32), (6.75,2.45), (8.03,3.96), (8.99,5.79), (9.60,7.88), (9.91,10.15), (9.99,12.55), (9.94,15.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.005636006674181,"cv_gap":16.52}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/f70628a3233d1a6f2e992cb1c7190308-038/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f70628a3233d1a6f2e992cb1c7190308-038/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f70628a3233d1a6f2e992cb1c7190308-038/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.160 m/s at x-direction and -0.017 m/s at y-direction. The ego vehicle's current acceleration is -0.293 m/s^2 at x-direction and -0.009 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::f70628a3233d1a6f2e992cb1c7190308-038"}},"extra_info":{"index":382,"token":"waymo_e2e::f70628a3233d1a6f2e992cb1c7190308-038","id":"waymo_e2e::f70628a3233d1a6f2e992cb1c7190308-038","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.61,-0.01), (5.20,-0.03), (7.76,-0.06), (10.30,-0.09), (12.83,-0.12), (15.35,-0.15), (17.88,-0.19), (20.44,-0.22), (23.03,-0.27), (25.65,-0.31)]\nOption B\n  waypoints xy: [(2.51,-0.01), (4.73,-0.03), (6.61,-0.04), (8.05,-0.06), (9.03,-0.07), (9.57,-0.07), (9.77,-0.08), (9.76,-0.08), (9.76,-0.08), (9.76,-0.08)]\nOption C\n  waypoints xy: [(5.86,-0.00), (11.50,-0.01), (16.85,-0.02), (21.85,-0.04), (26.43,-0.07), (30.60,-0.10), (34.32,-0.14), (37.59,-0.19), (40.43,-0.26), (42.84,-0.36)]\nOption D\n  waypoints xy: [(5.09,-0.00), (10.13,-0.01), (15.11,-0.01), (20.02,-0.01), (24.89,0.00), (29.74,0.02), (34.57,0.05), (39.40,0.07), (44.25,0.10), (49.10,0.13)]\nOption E\n  waypoints xy: [(8.15,-0.04), (16.29,-0.15), (24.42,-0.31), (32.54,-0.53), (40.66,-0.81), (48.77,-1.13), (56.89,-1.50), (65.01,-1.90), (73.13,-2.36), (81.25,-2.86)]\nOption F\n  waypoints xy: [(4.83,-0.11), (9.83,-0.41), (14.99,-0.77), (20.32,-1.15), (25.78,-1.53), (31.37,-1.79), (37.07,-1.93), (42.83,-2.01), (48.61,-2.03), (54.38,-1.98)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.159580353491665,"cv_gap":16.2}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/95b95c178892347aeb2e248658946e89-111/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/95b95c178892347aeb2e248658946e89-111/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/95b95c178892347aeb2e248658946e89-111/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 3.223 m/s at x-direction and 0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.437 m/s^2 at x-direction and 0.015 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::95b95c178892347aeb2e248658946e89-111"}},"extra_info":{"index":383,"token":"waymo_e2e::95b95c178892347aeb2e248658946e89-111","id":"waymo_e2e::95b95c178892347aeb2e248658946e89-111","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.21,-0.00), (10.33,-0.01), (15.30,-0.01), (20.08,-0.02), (24.67,-0.03), (29.09,-0.04), (33.35,-0.05), (37.48,-0.07), (41.48,-0.08), (45.40,-0.10)]\nOption B\n  waypoints xy: [(4.15,-0.01), (8.29,-0.01), (12.42,-0.01), (16.58,-0.01), (20.76,0.00), (24.96,0.04), (29.19,0.13), (33.46,0.25), (37.74,0.43), (42.05,0.72)]\nOption C\n  waypoints xy: [(1.33,-0.01), (2.44,-0.01), (3.34,-0.02), (3.98,-0.02), (4.37,-0.02), (4.55,-0.02), (4.62,-0.02), (4.64,-0.02), (4.67,-0.02), (4.73,-0.02)]\nOption D\n  waypoints xy: [(5.37,-0.00), (10.84,0.01), (16.39,0.03), (22.01,0.06), (27.67,0.09), (33.36,0.13), (39.08,0.15), (44.82,0.17), (50.58,0.19), (56.35,0.22)]\nOption E\n  waypoints xy: [(1.63,-0.00), (3.25,-0.00), (4.87,-0.01), (6.48,-0.02), (8.10,-0.03), (9.72,-0.04), (11.33,-0.05), (12.91,-0.06), (14.45,-0.08), (15.96,-0.09)]\nOption F\n  waypoints xy: [(4.37,-0.03), (9.01,-0.09), (13.89,-0.17), (18.98,-0.30), (24.23,-0.48), (29.62,-0.71), (35.10,-0.99), (40.66,-1.32), (46.26,-1.70), (51.86,-2.13)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.2231545644860295,"cv_gap":11.425}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"T7xIsTgYtH","cam_id":"4_resize","sample_timestamps":["001744345307_000700000000","001744345308_000200000000","001744345308_000700000000","001744345309_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"001744345309_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"T7xIsTgYtH","cam_id":"2","sample_timestamps":["001744345307_000700000000","001744345308_000200000000","001744345308_000700000000","001744345309_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"001744345309_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"T7xIsTgYtH","cam_id":"7","sample_timestamps":["001744345307_000700000000","001744345308_000200000000","001744345308_000700000000","001744345309_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"001744345309_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.900 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"T7xIsTgYtH"}},"extra_info":{"index":384,"token":"T7xIsTgYtH","id":"T7xIsTgYtH","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\nOption B\n  waypoints xy: [(2.75,-0.48), (5.54,-1.49), (8.34,-3.03), (11.14,-5.06), (13.96,-7.48), (16.84,-10.21), (19.78,-13.20), (22.78,-16.38), (25.81,-19.71), (28.88,-23.15)]\nOption C\n  waypoints xy: [(1.77,0.00), (3.08,0.00), (3.91,0.00), (4.29,0.00), (4.37,0.00), (4.38,0.00), (4.37,0.00), (4.37,0.00), (4.39,0.00), (4.48,0.00)]\nOption D\n  waypoints xy: [(5.47,-0.02), (10.75,-0.04), (15.69,-0.05), (20.19,-0.07), (24.26,-0.07), (27.89,-0.06), (31.09,-0.05), (33.87,-0.03), (36.23,-0.02), (38.17,-0.01)]\nOption E\n  waypoints xy: [(6.92,0.08), (14.00,0.23), (21.30,0.31), (28.66,0.22), (35.95,0.05), (43.17,-0.28), (50.44,-0.69), (57.74,-1.19), (65.01,-1.61), (72.30,-2.19)]\nOption F\n  waypoints xy: [(5.16,-0.01), (10.34,-0.02), (15.52,-0.04), (20.72,-0.06), (25.92,-0.08), (31.12,-0.10), (36.32,-0.13), (41.52,-0.16), (46.70,-0.19), (51.87,-0.21)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.4,"cv_gap":22.276}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2e8e82bb03417bb953b44e1e345447a5-164/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2e8e82bb03417bb953b44e1e345447a5-164/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2e8e82bb03417bb953b44e1e345447a5-164/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.316 m/s at x-direction and -0.050 m/s at y-direction. The ego vehicle's current acceleration is -0.477 m/s^2 at x-direction and -0.036 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2e8e82bb03417bb953b44e1e345447a5-164"}},"extra_info":{"index":385,"token":"waymo_e2e::2e8e82bb03417bb953b44e1e345447a5-164","id":"waymo_e2e::2e8e82bb03417bb953b44e1e345447a5-164","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.07,0.19), (2.44,0.64), (4.00,1.51), (5.57,2.90), (6.96,4.84), (8.04,7.29), (8.79,10.21), (9.29,13.50), (9.64,17.10), (9.87,20.97)]\nOption B\n  waypoints xy: [(4.66,-0.01), (9.35,-0.02), (14.05,-0.04), (18.75,-0.06), (23.45,-0.09), (28.14,-0.13), (32.81,-0.18), (37.44,-0.23), (42.05,-0.28), (46.60,-0.33)]\nOption C\n  waypoints xy: [(5.76,-0.01), (11.85,-0.02), (18.31,-0.04), (25.11,-0.08), (32.25,-0.17), (39.59,-0.33), (47.02,-0.55), (54.50,-0.78), (62.02,-1.00), (69.58,-1.21)]\nOption D\n  waypoints xy: [(1.74,0.53), (3.50,1.41), (5.32,2.52), (7.25,3.76), (9.32,5.04), (11.50,6.33), (13.72,7.58), (15.93,8.78), (18.11,9.94), (20.21,11.06)]\nOption E\n  waypoints xy: [(3.44,-0.02), (6.58,-0.08), (9.44,-0.22), (12.02,-0.53), (14.36,-1.12), (16.45,-2.06), (18.22,-3.38), (19.61,-5.05), (20.59,-7.02), (21.20,-9.21)]\nOption F\n  waypoints xy: [(12.62,-0.02), (25.25,-0.08), (37.86,-0.16), (50.42,-0.28), (62.97,-0.43), (75.53,-0.61), (88.11,-0.81), (100.74,-1.02), (113.42,-1.25), (126.11,-1.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.31616623407986,"cv_gap":28.515}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3107aeb92c9f24ba3aa16162a9cf3a39-126/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3107aeb92c9f24ba3aa16162a9cf3a39-126/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3107aeb92c9f24ba3aa16162a9cf3a39-126/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.160 m/s at x-direction and -0.013 m/s at y-direction. The ego vehicle's current acceleration is -0.427 m/s^2 at x-direction and 0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3107aeb92c9f24ba3aa16162a9cf3a39-126"}},"extra_info":{"index":386,"token":"waymo_e2e::3107aeb92c9f24ba3aa16162a9cf3a39-126","id":"waymo_e2e::3107aeb92c9f24ba3aa16162a9cf3a39-126","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.36,-0.01), (8.76,-0.03), (13.19,-0.06), (17.65,-0.08), (22.13,-0.06), (26.66,0.05), (31.29,0.23), (36.02,0.42), (40.83,0.61), (45.73,0.78)]\nOption B\n  waypoints xy: [(1.79,-0.01), (3.24,-0.02), (4.33,-0.03), (5.02,-0.04), (5.33,-0.05), (5.39,-0.05), (5.40,-0.05), (5.40,-0.05), (5.41,-0.05), (5.48,-0.05)]\nOption C\n  waypoints xy: [(4.93,0.04), (9.87,0.13), (14.81,0.28), (19.74,0.48), (24.64,0.73), (29.52,1.03), (34.39,1.35), (39.23,1.72), (44.06,2.11), (48.89,2.53)]\nOption D\n  waypoints xy: [(3.51,-0.09), (7.31,-0.28), (11.35,-0.56), (15.52,-0.84), (19.70,-1.09), (23.84,-1.27), (27.90,-1.35), (31.91,-1.37), (35.84,-1.30), (39.72,-1.17)]\nOption E\n  waypoints xy: [(4.56,-0.01), (8.90,-0.02), (13.04,-0.03), (17.10,-0.06), (21.10,-0.09), (25.06,-0.13), (29.05,-0.17), (33.14,-0.21), (37.33,-0.26), (41.58,-0.30)]\nOption F\n  waypoints xy: [(2.01,0.00), (4.05,0.01), (6.09,0.01), (8.14,0.01), (10.20,0.01), (12.27,0.01), (14.39,-0.00), (16.56,-0.01), (18.81,-0.01), (21.12,-0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.159776732700453,"cv_gap":14.994}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"XX1kk4zBNe","cam_id":"4_resize","sample_timestamps":["000000016834_000800000000","000000016835_000300000000","000000016835_000800000000","000000016836_000300000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000016836_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XX1kk4zBNe","cam_id":"2","sample_timestamps":["000000016834_000800000000","000000016835_000300000000","000000016835_000800000000","000000016836_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000016836_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XX1kk4zBNe","cam_id":"7","sample_timestamps":["000000016834_000800000000","000000016835_000300000000","000000016835_000800000000","000000016836_000300000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000016836_000300000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"XX1kk4zBNe"}},"extra_info":{"index":387,"token":"XX1kk4zBNe","id":"XX1kk4zBNe","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.44,-0.01), (6.35,-0.03), (8.62,-0.05), (10.15,-0.08), (10.96,-0.09), (11.23,-0.09), (11.26,-0.10), (11.28,-0.10), (11.35,-0.10), (11.58,-0.10)]\nOption B\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption C\n  waypoints xy: [(8.07,-0.01), (16.13,-0.01), (24.20,-0.00), (32.28,0.01), (40.36,0.04), (48.44,0.06), (56.54,0.09), (64.65,0.11), (72.76,0.14), (80.88,0.17)]\nOption D\n  waypoints xy: [(1.27,-0.26), (2.38,-0.83), (3.26,-1.67), (3.87,-2.72), (4.17,-3.89), (4.15,-5.11), (3.85,-6.33), (3.27,-7.53), (2.46,-8.74), (1.43,-9.95)]\nOption E\n  waypoints xy: [(4.23,-0.00), (8.48,-0.01), (12.72,-0.00), (16.96,0.01), (21.20,0.02), (25.42,0.04), (29.64,0.05), (33.87,0.07), (38.11,0.08), (42.34,0.10)]\nOption F\n  waypoints xy: [(6.26,-0.00), (12.65,-0.00), (19.14,-0.00), (25.72,-0.00), (32.37,-0.01), (39.08,-0.03), (45.84,-0.06), (52.63,-0.10), (59.44,-0.13), (66.26,-0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.5,"cv_gap":30.977}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"5jxsi2CjW9","cam_id":"4_resize","sample_timestamps":["000000000899_000700000000","000000000900_000200000000","000000000900_000700000000","000000000901_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000901_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5jxsi2CjW9","cam_id":"2","sample_timestamps":["000000000899_000700000000","000000000900_000200000000","000000000900_000700000000","000000000901_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000901_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5jxsi2CjW9","cam_id":"7","sample_timestamps":["000000000899_000700000000","000000000900_000200000000","000000000900_000700000000","000000000901_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000901_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.500 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"5jxsi2CjW9"}},"extra_info":{"index":388,"token":"5jxsi2CjW9","id":"5jxsi2CjW9","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.72,-0.00), (5.48,-0.01), (8.27,-0.05), (11.08,-0.10), (13.86,-0.16), (16.62,-0.23), (19.32,-0.30), (21.97,-0.37), (24.57,-0.44), (27.12,-0.49)]\nOption B\n  waypoints xy: [(4.88,-0.06), (9.71,-0.21), (14.47,-0.46), (19.12,-0.80), (23.66,-1.23), (28.08,-1.74), (32.37,-2.36), (36.49,-3.09), (40.44,-3.97), (44.24,-4.99)]\nOption C\n  waypoints xy: [(7.37,-0.04), (14.73,-0.15), (22.05,-0.34), (29.34,-0.60), (36.59,-0.91), (43.80,-1.26), (50.97,-1.64), (58.09,-2.03), (65.18,-2.45), (72.19,-2.87)]\nOption D\n  waypoints xy: [(2.53,-0.01), (4.83,-0.03), (6.84,-0.04), (8.50,-0.06), (9.78,-0.07), (10.67,-0.08), (11.18,-0.09), (11.39,-0.09), (11.43,-0.09), (11.45,-0.09)]\nOption E\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption F\n  waypoints xy: [(4.08,0.00), (8.36,0.00), (12.84,0.01), (17.50,0.01), (22.35,0.02), (27.34,0.02), (32.44,0.02), (37.62,0.02), (42.85,0.02), (48.10,0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.500909015790027,"cv_gap":15.584}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/0042b483892db48907e04dbf69a049f6-105/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/0042b483892db48907e04dbf69a049f6-105/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/0042b483892db48907e04dbf69a049f6-105/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.105 m/s at x-direction and -0.020 m/s at y-direction. The ego vehicle's current acceleration is -0.384 m/s^2 at x-direction and -0.014 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0042b483892db48907e04dbf69a049f6-105"}},"extra_info":{"index":389,"token":"waymo_e2e::0042b483892db48907e04dbf69a049f6-105","id":"waymo_e2e::0042b483892db48907e04dbf69a049f6-105","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.41,-0.01), (10.80,-0.01), (16.17,-0.01), (21.46,0.00), (26.68,0.01), (31.88,0.03), (37.08,0.04), (42.29,0.08), (47.48,0.13), (52.64,0.18)]\nOption B\n  waypoints xy: [(5.72,0.00), (11.43,0.01), (17.13,0.03), (22.82,0.05), (28.50,0.07), (34.17,0.09), (39.83,0.11), (45.47,0.12), (51.09,0.12), (56.71,0.11)]\nOption C\n  waypoints xy: [(2.30,-0.00), (4.09,-0.00), (5.32,-0.00), (5.99,-0.00), (6.22,-0.00), (6.23,-0.00), (6.23,-0.00), (6.23,0.00), (6.25,0.00), (6.33,0.00)]\nOption D\n  waypoints xy: [(2.61,-0.01), (5.20,-0.03), (7.76,-0.06), (10.30,-0.09), (12.83,-0.12), (15.35,-0.15), (17.88,-0.19), (20.44,-0.22), (23.03,-0.27), (25.65,-0.31)]\nOption E\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption F\n  waypoints xy: [(4.34,0.01), (8.71,0.02), (13.08,0.05), (17.46,0.08), (21.83,0.11), (26.21,0.14), (30.59,0.17), (34.95,0.19), (39.26,0.21), (43.50,0.23)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.104726585034551,"cv_gap":19.191}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ysSWpCvs67","cam_id":"4_resize","sample_timestamps":["000000000341_000300000000","000000000341_000800000000","000000000342_000300000000","000000000342_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000342_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ysSWpCvs67","cam_id":"2","sample_timestamps":["000000000341_000300000000","000000000341_000800000000","000000000342_000300000000","000000000342_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000342_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ysSWpCvs67","cam_id":"7","sample_timestamps":["000000000341_000300000000","000000000341_000800000000","000000000342_000300000000","000000000342_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000342_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.500 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"ysSWpCvs67"}},"extra_info":{"index":390,"token":"ysSWpCvs67","id":"ysSWpCvs67","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.91,-0.01), (9.91,-0.05), (14.99,-0.10), (20.14,-0.18), (25.34,-0.28), (30.58,-0.40), (35.86,-0.52), (41.15,-0.65), (46.46,-0.79), (51.77,-0.94)]\nOption B\n  waypoints xy: [(9.39,0.06), (18.80,0.17), (28.23,0.30), (37.66,0.43), (47.11,0.57), (56.55,0.71), (66.00,0.85), (75.43,0.97), (84.84,1.08), (94.21,1.17)]\nOption C\n  waypoints xy: [(1.71,-0.41), (3.29,-1.24), (4.59,-2.44), (5.54,-3.84), (6.17,-5.26), (6.59,-6.58), (6.89,-7.73), (7.11,-8.74), (7.29,-9.68), (7.42,-10.57)]\nOption D\n  waypoints xy: [(1.51,0.10), (2.96,0.34), (4.30,0.73), (5.52,1.26), (6.61,1.91), (7.55,2.65), (8.34,3.45), (9.00,4.32), (9.59,5.27), (10.10,6.28)]\nOption E\n  waypoints xy: [(7.25,-0.01), (14.41,-0.01), (21.44,-0.02), (28.30,-0.02), (34.94,-0.02), (41.34,-0.03), (47.48,-0.03), (53.36,-0.04), (58.98,-0.05), (64.34,-0.07)]\nOption F\n  waypoints xy: [(2.80,-0.04), (5.62,-0.13), (8.44,-0.28), (11.25,-0.49), (14.05,-0.75), (16.82,-1.02), (19.57,-1.29), (22.29,-1.54), (25.00,-1.77), (27.68,-1.98)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.508175741568165,"cv_gap":18.424}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Z4gUHGxWHb","cam_id":"4_resize","sample_timestamps":["000000006295_000100000000","000000006295_000600000000","000000006296_000100000000","000000006296_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006296_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Z4gUHGxWHb","cam_id":"2","sample_timestamps":["000000006295_000100000000","000000006295_000600000000","000000006296_000100000000","000000006296_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006296_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Z4gUHGxWHb","cam_id":"7","sample_timestamps":["000000006295_000100000000","000000006295_000600000000","000000006296_000100000000","000000006296_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006296_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.100 m/s at x-direction and 0.200 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"Z4gUHGxWHb"}},"extra_info":{"index":391,"token":"Z4gUHGxWHb","id":"Z4gUHGxWHb","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.08,-0.00), (14.03,-0.00), (20.84,-0.08), (27.45,-0.08), (33.89,-0.08), (40.17,-0.14), (46.23,-0.14), (52.07,-0.14), (57.71,-0.14), (63.23,-0.09)]\nOption B\n  waypoints xy: [(2.69,0.03), (5.35,0.08), (7.97,0.16), (10.56,0.25), (13.12,0.35), (15.62,0.43), (18.14,0.47), (20.76,0.48), (23.43,0.44), (26.14,0.39)]\nOption C\n  waypoints xy: [(4.94,0.00), (9.90,0.03), (14.87,0.06), (19.84,0.11), (24.82,0.16), (29.80,0.20), (34.75,0.24), (39.67,0.27), (44.54,0.31), (49.33,0.34)]\nOption D\n  waypoints xy: [(2.48,-0.06), (4.71,-0.17), (6.68,-0.29), (8.35,-0.40), (9.69,-0.50), (10.73,-0.58), (11.48,-0.64), (11.97,-0.67), (12.24,-0.70), (12.41,-0.73)]\nOption E\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption F\n  waypoints xy: [(14.51,-0.09), (29.04,-0.36), (43.56,-0.85), (58.06,-1.55), (72.55,-2.47), (87.00,-3.58), (101.43,-4.88), (115.84,-6.35), (130.22,-7.96), (144.57,-9.70)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.103920062069938,"cv_gap":13.564}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/c46e804e9fcb887376492eae59663409-111/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/c46e804e9fcb887376492eae59663409-111/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/c46e804e9fcb887376492eae59663409-111/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 10.250 m/s at x-direction and 0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.385 m/s^2 at x-direction and 0.011 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c46e804e9fcb887376492eae59663409-111"}},"extra_info":{"index":392,"token":"waymo_e2e::c46e804e9fcb887376492eae59663409-111","id":"waymo_e2e::c46e804e9fcb887376492eae59663409-111","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.77,-0.02), (9.05,-0.05), (12.75,-0.08), (15.82,-0.10), (18.26,-0.12), (20.08,-0.14), (21.40,-0.15), (22.38,-0.16), (23.07,-0.17), (23.57,-0.17)]\nOption B\n  waypoints xy: [(1.11,0.08), (2.57,0.32), (4.35,0.85), (6.34,1.82), (8.37,3.34), (10.24,5.45), (11.81,8.13), (12.99,11.28), (13.84,14.81), (14.42,18.63)]\nOption C\n  waypoints xy: [(12.62,0.09), (25.32,0.38), (38.09,0.90), (50.94,1.64), (63.85,2.59), (76.79,3.74), (89.74,5.07), (102.68,6.60), (115.63,8.32), (128.57,10.25)]\nOption D\n  waypoints xy: [(2.32,0.16), (4.57,0.64), (6.74,1.36), (8.84,2.35), (10.89,3.55), (12.85,4.99), (14.71,6.68), (16.38,8.64), (17.93,10.92), (19.28,13.55)]\nOption E\n  waypoints xy: [(-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (0.00,-0.00), (0.07,-0.00)]\nOption F\n  waypoints xy: [(5.15,0.01), (10.29,0.02), (15.41,0.03), (20.52,0.05), (25.61,0.06), (30.69,0.07), (35.79,0.08), (40.89,0.08), (46.00,0.09), (51.12,0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.249722594352924,"cv_gap":28.808}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/54b65c84a29b82f178c4c5a76fbbae59-194/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/54b65c84a29b82f178c4c5a76fbbae59-194/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/54b65c84a29b82f178c4c5a76fbbae59-194/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.204 m/s at x-direction and 0.017 m/s at y-direction. The ego vehicle's current acceleration is -0.198 m/s^2 at x-direction and -0.044 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::54b65c84a29b82f178c4c5a76fbbae59-194"}},"extra_info":{"index":393,"token":"waymo_e2e::54b65c84a29b82f178c4c5a76fbbae59-194","id":"waymo_e2e::54b65c84a29b82f178c4c5a76fbbae59-194","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.66,0.00), (5.31,0.01), (7.96,0.02), (10.58,0.03), (13.18,0.04), (15.77,0.05), (18.31,0.05), (20.79,0.06), (23.21,0.06), (25.62,0.06)]\nOption B\n  waypoints xy: [(14.17,0.00), (28.39,0.03), (42.64,0.08), (56.90,0.15), (71.16,0.23), (85.41,0.33), (99.62,0.44), (113.82,0.56), (127.98,0.69), (142.12,0.81)]\nOption C\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption D\n  waypoints xy: [(5.16,-0.01), (10.34,-0.02), (15.52,-0.04), (20.72,-0.06), (25.92,-0.08), (31.12,-0.10), (36.32,-0.13), (41.52,-0.16), (46.70,-0.19), (51.87,-0.21)]\nOption E\n  waypoints xy: [(7.94,0.05), (15.90,0.17), (23.87,0.38), (31.83,0.66), (39.81,0.99), (47.81,1.38), (55.85,1.82), (63.93,2.30), (72.03,2.81), (80.12,3.37)]\nOption F\n  waypoints xy: [(2.48,-0.06), (4.71,-0.17), (6.68,-0.29), (8.35,-0.40), (9.69,-0.50), (10.73,-0.58), (11.48,-0.64), (11.97,-0.67), (12.24,-0.70), (12.41,-0.73)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.204218325162945,"cv_gap":13.421}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"73v5jUWyZt","cam_id":"4_resize","sample_timestamps":["000000002040_000450000000","000000002040_000700000000","000000002040_000950000000","000000002041_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002041_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"73v5jUWyZt","cam_id":"2","sample_timestamps":["000000002039_000700000000","000000002040_000200000000","000000002040_000700000000","000000002041_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002041_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"73v5jUWyZt","cam_id":"7","sample_timestamps":["000000002039_000700000000","000000002040_000200000000","000000002040_000700000000","000000002041_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002041_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.200 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"73v5jUWyZt"}},"extra_info":{"index":394,"token":"73v5jUWyZt","id":"73v5jUWyZt","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.89,0.00), (9.77,0.00), (14.63,0.00), (19.46,0.01), (24.26,0.01), (29.02,0.01), (33.75,0.00), (38.44,-0.01), (43.07,-0.03), (47.63,-0.07)]\nOption B\n  waypoints xy: [(1.39,-0.01), (2.80,-0.01), (4.23,-0.02), (5.66,-0.03), (7.07,-0.04), (8.47,-0.05), (9.86,-0.05), (11.24,-0.05), (12.61,-0.05), (13.98,-0.05)]\nOption C\n  waypoints xy: [(4.81,-0.00), (9.62,-0.00), (14.41,0.00), (19.19,0.00), (23.95,0.00), (28.70,-0.00), (33.44,-0.02), (38.16,-0.05), (42.84,-0.08), (47.48,-0.11)]\nOption D\n  waypoints xy: [(3.88,-0.02), (7.84,-0.05), (11.86,-0.09), (15.92,-0.13), (20.01,-0.16), (24.11,-0.20), (28.21,-0.24), (32.30,-0.28), (36.32,-0.30), (40.28,-0.34)]\nOption E\n  waypoints xy: [(5.50,0.01), (10.93,0.04), (16.34,0.07), (21.60,0.07), (26.57,0.07), (31.20,0.08), (35.41,0.11), (39.29,0.14), (42.96,0.14), (46.31,0.11)]\nOption F\n  waypoints xy: [(0.99,-0.00), (2.04,-0.00), (3.11,-0.00), (4.13,-0.01), (5.02,-0.02), (5.66,-0.04), (6.05,-0.05), (6.27,-0.06), (6.42,-0.06), (6.59,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.8,"cv_gap":7.47}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/54e3da9b2b619d469c2c7548f70551cd-127/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/54e3da9b2b619d469c2c7548f70551cd-127/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/54e3da9b2b619d469c2c7548f70551cd-127/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.807 m/s at x-direction and -0.022 m/s at y-direction. The ego vehicle's current acceleration is -0.584 m/s^2 at x-direction and 0.027 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::54e3da9b2b619d469c2c7548f70551cd-127"}},"extra_info":{"index":395,"token":"waymo_e2e::54e3da9b2b619d469c2c7548f70551cd-127","id":"waymo_e2e::54e3da9b2b619d469c2c7548f70551cd-127","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.97,-0.01), (12.02,-0.02), (18.13,-0.03), (24.27,-0.05), (30.40,-0.04), (36.52,-0.03), (42.61,-0.04), (48.64,-0.05), (54.55,-0.07), (60.30,-0.09)]\nOption B\n  waypoints xy: [(4.06,0.01), (8.14,0.03), (12.22,0.06), (16.21,0.08), (20.10,0.08), (23.94,0.04), (27.78,-0.05), (31.62,-0.20), (35.41,-0.38), (39.12,-0.56)]\nOption C\n  waypoints xy: [(2.40,-0.00), (4.81,-0.01), (7.21,-0.01), (9.60,-0.01), (11.97,-0.02), (14.32,-0.03), (16.65,-0.04), (18.97,-0.05), (21.28,-0.07), (23.58,-0.09)]\nOption D\n  waypoints xy: [(1.92,0.00), (3.36,0.01), (4.28,0.01), (4.71,0.02), (4.80,0.02), (4.80,0.02), (4.80,0.02), (4.80,0.02), (4.81,0.02), (4.86,0.02)]\nOption E\n  waypoints xy: [(3.60,-0.00), (7.27,-0.13), (10.97,-0.27), (14.60,-0.49), (18.16,-0.74), (21.63,-1.02), (25.07,-1.34), (28.53,-1.66), (31.98,-2.06), (35.36,-2.53)]\nOption F\n  waypoints xy: [(4.64,-0.00), (9.27,-0.01), (13.87,-0.02), (18.42,-0.04), (22.89,-0.05), (27.24,-0.07), (31.35,-0.09), (35.13,-0.13), (38.54,-0.16), (41.59,-0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.80710669500026,"cv_gap":19.246}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"TIQaZvDP9L","cam_id":"4_resize","sample_timestamps":["000000014757_000150000000","000000014757_000400000000","000000014757_000650000000","000000014757_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000014757_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TIQaZvDP9L","cam_id":"2","sample_timestamps":["000000014756_000400000000","000000014756_000900000000","000000014757_000400000000","000000014757_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000014757_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TIQaZvDP9L","cam_id":"7","sample_timestamps":["000000014756_000400000000","000000014756_000900000000","000000014757_000400000000","000000014757_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000014757_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with a constant speed**. The ego vehicle's current velocity is 6.000 m/s at x-direction and 0.500 m/s at y-direction. The ego vehicle's current acceleration is 0.300 m/s^2 at x-direction and -0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"TIQaZvDP9L"}},"extra_info":{"index":396,"token":"TIQaZvDP9L","id":"TIQaZvDP9L","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.82,-0.61), (3.54,-1.80), (5.11,-3.55), (6.55,-5.78), (7.99,-8.44), (9.51,-11.45), (11.13,-14.78), (12.86,-18.36), (14.71,-22.17), (16.65,-26.13)]\nOption B\n  waypoints xy: [(3.16,-0.12), (6.30,-0.44), (9.40,-1.02), (12.43,-1.88), (15.39,-3.03), (18.25,-4.47), (20.97,-6.19), (23.54,-8.17), (25.94,-10.36), (28.23,-12.72)]\nOption C\n  waypoints xy: [(8.42,0.09), (16.87,0.27), (25.34,0.46), (33.83,0.55), (42.34,0.74), (50.86,0.83), (59.41,0.84), (67.97,0.84), (76.56,0.75), (85.16,0.58)]\nOption D\n  waypoints xy: [(2.41,0.47), (4.81,1.52), (7.05,3.20), (8.97,5.46), (10.56,8.19), (11.92,11.31), (13.12,14.73), (14.23,18.41), (15.31,22.30), (16.40,26.33)]\nOption E\n  waypoints xy: [(3.05,0.05), (6.13,0.18), (9.22,0.40), (12.32,0.70), (15.40,1.06), (18.47,1.44), (21.52,1.83), (24.54,2.19), (27.52,2.52), (30.46,2.81)]\nOption F\n  waypoints xy: [(7.66,0.03), (15.28,0.13), (22.88,0.31), (30.43,0.55), (37.95,0.86), (45.43,1.21), (52.86,1.58), (60.23,1.96), (67.55,2.33), (74.79,2.68)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.020797289396148,"cv_gap":15.779}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"QL8Fft7NmV","cam_id":"4_resize","sample_timestamps":["000000000888_000150000000","000000000888_000400000000","000000000888_000650000000","000000000888_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000888_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QL8Fft7NmV","cam_id":"2","sample_timestamps":["000000000887_000400000000","000000000887_000900000000","000000000888_000400000000","000000000888_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000888_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QL8Fft7NmV","cam_id":"7","sample_timestamps":["000000000887_000400000000","000000000887_000900000000","000000000888_000400000000","000000000888_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000888_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 6.400 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"QL8Fft7NmV"}},"extra_info":{"index":397,"token":"QL8Fft7NmV","id":"QL8Fft7NmV","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(9.56,-0.05), (19.14,-0.18), (28.75,-0.41), (38.41,-0.72), (48.13,-1.11), (57.90,-1.56), (67.71,-2.06), (77.52,-2.59), (87.33,-3.13), (97.16,-3.69)]\nOption B\n  waypoints xy: [(6.24,-0.00), (12.49,0.00), (18.72,0.01), (24.91,0.04), (30.99,0.07), (36.85,0.09), (42.41,0.12), (47.66,0.16), (52.59,0.20), (57.20,0.25)]\nOption C\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption D\n  waypoints xy: [(4.42,-0.10), (9.18,-0.25), (14.22,-0.45), (19.48,-0.68), (24.91,-0.93), (30.46,-1.16), (36.12,-1.38), (41.91,-1.58), (47.81,-1.77), (53.84,-1.96)]\nOption E\n  waypoints xy: [(2.20,0.00), (4.26,0.01), (6.14,0.03), (7.76,0.05), (9.10,0.07), (10.15,0.08), (10.95,0.10), (11.49,0.11), (11.80,0.11), (11.98,0.11)]\nOption F\n  waypoints xy: [(3.11,-0.01), (6.17,-0.01), (9.30,-0.02), (12.52,-0.03), (15.80,-0.04), (19.09,-0.06), (22.36,-0.08), (25.59,-0.10), (28.77,-0.11), (31.88,-0.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.4,"cv_gap":19.478}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"znF2tpebuT","cam_id":"4_resize","sample_timestamps":["000000002343_000500000000","000000002344_000000000000","000000002344_000500000000","000000002345_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002345_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"znF2tpebuT","cam_id":"2","sample_timestamps":["000000002343_000500000000","000000002344_000000000000","000000002344_000500000000","000000002345_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002345_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"znF2tpebuT","cam_id":"7","sample_timestamps":["000000002343_000500000000","000000002344_000000000000","000000002344_000500000000","000000002345_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002345_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.900 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"znF2tpebuT"}},"extra_info":{"index":398,"token":"znF2tpebuT","id":"znF2tpebuT","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.38,-0.00), (14.80,0.00), (22.28,0.02), (29.80,0.04), (37.35,0.07), (44.90,0.10), (52.32,0.14), (59.36,0.20), (66.22,0.29), (73.04,0.38)]\nOption B\n  waypoints xy: [(7.19,0.01), (14.53,0.03), (22.04,0.04), (29.69,0.02), (37.69,-0.00), (46.23,-0.01), (55.11,-0.03), (64.05,-0.08), (72.83,-0.16), (81.40,-0.22)]\nOption C\n  waypoints xy: [(3.08,0.47), (6.34,1.26), (9.79,2.38), (13.40,3.78), (17.17,5.40), (21.06,7.14), (25.05,8.95), (29.08,10.82), (33.12,12.72), (37.14,14.61)]\nOption D\n  waypoints xy: [(1.90,0.01), (3.36,0.03), (4.36,0.05), (4.93,0.06), (5.15,0.06), (5.17,0.06), (5.18,0.06), (5.18,0.06), (5.21,0.06), (5.34,0.07)]\nOption E\n  waypoints xy: [(2.46,-0.04), (4.95,-0.11), (7.42,-0.21), (9.89,-0.31), (12.38,-0.39), (14.83,-0.43), (17.24,-0.46), (19.71,-0.49), (22.15,-0.50), (24.48,-0.51)]\nOption F\n  waypoints xy: [(4.50,-0.00), (8.80,-0.00), (12.89,-0.00), (16.71,-0.00), (20.26,0.00), (23.51,0.01), (26.45,0.01), (29.10,0.02), (31.46,0.01), (33.53,-0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.901020301937139,"cv_gap":19.218}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-071/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-071/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-071/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.120 m/s at x-direction and -0.029 m/s at y-direction. The ego vehicle's current acceleration is -0.476 m/s^2 at x-direction and 0.095 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::61299b09568e3455470309f22c7aacfa-071"}},"extra_info":{"index":399,"token":"waymo_e2e::61299b09568e3455470309f22c7aacfa-071","id":"waymo_e2e::61299b09568e3455470309f22c7aacfa-071","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.63,-0.02), (11.31,-0.04), (17.01,-0.06), (22.72,-0.08), (28.44,-0.10), (34.16,-0.10), (39.89,-0.10), (45.61,-0.10), (51.32,-0.07), (57.03,-0.04)]\nOption B\n  waypoints xy: [(4.49,-0.01), (9.05,-0.03), (13.65,-0.04), (18.26,-0.06), (22.89,-0.08), (27.52,-0.09), (32.14,-0.11), (36.74,-0.12), (41.27,-0.12), (45.74,-0.11)]\nOption C\n  waypoints xy: [(5.59,0.02), (11.42,0.06), (17.48,0.12), (23.79,0.21), (30.34,0.30), (37.10,0.40), (44.05,0.48), (51.16,0.56), (58.41,0.65), (65.75,0.75)]\nOption D\n  waypoints xy: [(0.21,0.01), (0.56,0.03), (1.22,0.08), (2.33,0.24), (3.90,0.65), (5.84,1.52), (7.91,3.01), (9.89,5.18), (11.57,8.00), (12.89,11.34)]\nOption E\n  waypoints xy: [(4.08,-0.01), (7.58,-0.04), (10.47,-0.09), (12.73,-0.15), (14.42,-0.20), (15.66,-0.24), (16.49,-0.27), (16.95,-0.29), (17.15,-0.29), (17.20,-0.30)]\nOption F\n  waypoints xy: [(1.63,-0.42), (3.21,-1.18), (4.62,-2.27), (5.85,-3.59), (6.94,-5.06), (7.92,-6.58), (8.84,-8.08), (9.75,-9.56), (10.67,-11.10), (11.63,-12.69)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.120044839299577,"cv_gap":28.919}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/d96ca054b54c1f93335a6f53c9460b56-189/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d96ca054b54c1f93335a6f53c9460b56-189/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d96ca054b54c1f93335a6f53c9460b56-189/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.864 m/s at x-direction and -0.008 m/s at y-direction. The ego vehicle's current acceleration is -0.260 m/s^2 at x-direction and 0.017 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::d96ca054b54c1f93335a6f53c9460b56-189"}},"extra_info":{"index":400,"token":"waymo_e2e::d96ca054b54c1f93335a6f53c9460b56-189","id":"waymo_e2e::d96ca054b54c1f93335a6f53c9460b56-189","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.84,0.01), (11.73,0.02), (17.66,0.06), (23.63,0.10), (29.64,0.15), (35.69,0.19), (41.75,0.24), (47.81,0.27), (53.83,0.30), (59.80,0.32)]\nOption B\n  waypoints xy: [(2.35,-0.00), (4.39,-0.01), (6.02,-0.01), (7.19,-0.01), (7.98,-0.01), (8.44,-0.01), (8.64,-0.01), (8.67,-0.01), (8.67,-0.01), (8.68,-0.01)]\nOption C\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption D\n  waypoints xy: [(3.90,-0.00), (8.02,0.01), (12.29,0.01), (16.68,0.03), (21.17,0.04), (25.74,0.06), (30.39,0.05), (35.08,0.01), (39.80,-0.02), (44.55,-0.02)]\nOption E\n  waypoints xy: [(6.64,0.25), (13.21,0.86), (19.68,1.86), (26.00,3.23), (32.15,4.92), (38.16,6.80), (44.05,8.78), (49.82,10.80), (55.46,12.83), (61.00,14.87)]\nOption F\n  waypoints xy: [(5.56,-0.04), (11.11,-0.16), (16.63,-0.36), (22.12,-0.64), (27.54,-1.01), (32.90,-1.50), (38.18,-2.09), (43.40,-2.79), (48.55,-3.59), (53.60,-4.48)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.863728307920839,"cv_gap":15.584}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"u5gSxkVzKt","cam_id":"4_resize","sample_timestamps":["000000001449_000600000000","000000001450_000100000000","000000001450_000600000000","000000001451_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001451_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"u5gSxkVzKt","cam_id":"2","sample_timestamps":["000000001449_000600000000","000000001450_000100000000","000000001450_000600000000","000000001451_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001451_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"u5gSxkVzKt","cam_id":"7","sample_timestamps":["000000001449_000600000000","000000001450_000100000000","000000001450_000600000000","000000001451_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001451_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with an acceleration**. The ego vehicle's current velocity is 4.900 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -1.600 m/s^2 at x-direction and 0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"u5gSxkVzKt"}},"extra_info":{"index":401,"token":"u5gSxkVzKt","id":"u5gSxkVzKt","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(12.38,-0.04), (24.64,-0.13), (36.77,-0.29), (48.74,-0.52), (60.53,-0.83), (72.15,-1.20), (83.66,-1.64), (95.06,-2.13), (106.26,-2.65), (117.23,-3.14)]\nOption B\n  waypoints xy: [(1.23,0.17), (2.36,0.49), (3.35,0.93), (4.20,1.48), (4.91,2.09), (5.49,2.73), (5.98,3.36), (6.39,3.97), (6.73,4.57), (7.02,5.15)]\nOption C\n  waypoints xy: [(4.78,-0.00), (9.62,-0.01), (14.51,-0.03), (19.44,-0.05), (24.43,-0.08), (29.46,-0.10), (34.53,-0.13), (39.62,-0.16), (44.72,-0.19), (49.83,-0.21)]\nOption D\n  waypoints xy: [(2.38,-0.03), (4.82,-0.12), (7.29,-0.24), (9.80,-0.41), (12.33,-0.62), (14.86,-0.87), (17.39,-1.13), (19.94,-1.42), (22.49,-1.72), (25.02,-2.05)]\nOption E\n  waypoints xy: [(5.92,-0.01), (11.86,-0.04), (17.82,-0.09), (23.82,-0.15), (29.86,-0.23), (35.96,-0.31), (42.12,-0.41), (48.34,-0.52), (54.58,-0.66), (60.83,-0.81)]\nOption F\n  waypoints xy: [(5.15,0.04), (10.06,0.12), (14.67,0.23), (18.97,0.35), (22.93,0.48), (26.53,0.60), (29.76,0.69), (32.62,0.75), (35.12,0.79), (37.29,0.80)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.909175083453431,"cv_gap":18.843}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"O3wMgyYuVV","cam_id":"4_resize","sample_timestamps":["000000001769_000300000000","000000001769_000800000000","000000001770_000300000000","000000001770_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001770_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"O3wMgyYuVV","cam_id":"2","sample_timestamps":["000000001769_000300000000","000000001769_000800000000","000000001770_000300000000","000000001770_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001770_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"O3wMgyYuVV","cam_id":"7","sample_timestamps":["000000001769_000300000000","000000001769_000800000000","000000001770_000300000000","000000001770_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001770_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 9.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.000 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"O3wMgyYuVV"}},"extra_info":{"index":402,"token":"O3wMgyYuVV","id":"O3wMgyYuVV","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.53,0.19), (13.08,0.67), (19.63,1.47), (26.16,2.58), (32.68,3.96), (39.17,5.60), (45.62,7.48), (52.02,9.55), (58.37,11.81), (64.64,14.21)]\nOption B\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\nOption C\n  waypoints xy: [(8.95,-0.00), (17.82,-0.01), (26.63,-0.01), (35.36,-0.01), (44.04,-0.00), (52.67,-0.01), (61.26,-0.02), (69.82,-0.05), (78.36,-0.07), (86.89,-0.10)]\nOption D\n  waypoints xy: [(3.51,0.00), (6.58,0.02), (9.15,0.03), (11.13,0.04), (12.45,0.05), (13.14,0.06), (13.37,0.06), (13.41,0.06), (13.43,0.06), (13.51,0.06)]\nOption E\n  waypoints xy: [(0.22,-0.02), (0.58,-0.06), (1.19,-0.19), (2.08,-0.47), (3.23,-1.03), (4.48,-2.01), (5.64,-3.51), (6.58,-5.53), (7.32,-8.02), (7.95,-10.95)]\nOption F\n  waypoints xy: [(4.40,0.00), (8.86,0.01), (13.36,0.00), (17.89,0.01), (22.44,0.01), (27.01,0.03), (31.58,0.06), (36.12,0.11), (40.63,0.15), (45.09,0.19)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.0,"cv_gap":31.261}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/879f9df1547978772361c8916350efbb-061/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/879f9df1547978772361c8916350efbb-061/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/879f9df1547978772361c8916350efbb-061/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.439 m/s at x-direction and 0.019 m/s at y-direction. The ego vehicle's current acceleration is -0.108 m/s^2 at x-direction and 0.021 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::879f9df1547978772361c8916350efbb-061"}},"extra_info":{"index":403,"token":"waymo_e2e::879f9df1547978772361c8916350efbb-061","id":"waymo_e2e::879f9df1547978772361c8916350efbb-061","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.65,-0.02), (4.97,-0.04), (6.92,-0.06), (8.51,-0.09), (9.79,-0.11), (10.85,-0.13), (11.74,-0.15), (12.50,-0.16), (13.22,-0.18), (13.94,-0.19)]\nOption B\n  waypoints xy: [(5.32,-0.07), (10.62,-0.23), (15.86,-0.50), (21.06,-0.88), (26.20,-1.39), (31.29,-2.04), (36.30,-2.83), (41.20,-3.78), (45.96,-4.87), (50.56,-6.08)]\nOption C\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(4.28,0.07), (8.68,0.18), (13.19,0.31), (17.80,0.39), (22.50,0.41), (27.27,0.34), (32.06,0.21), (36.83,0.00), (41.58,-0.25), (46.26,-0.53)]\nOption F\n  waypoints xy: [(2.81,-0.01), (5.53,-0.02), (8.20,-0.03), (10.83,-0.04), (13.47,-0.05), (16.13,-0.06), (18.84,-0.06), (21.63,-0.07), (24.50,-0.08), (27.44,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.43897818773533,"cv_gap":13.505}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/2ad9c461939968b8732f6666dd15b927-138/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2ad9c461939968b8732f6666dd15b927-138/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2ad9c461939968b8732f6666dd15b927-138/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.096 m/s at x-direction and -0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.408 m/s^2 at x-direction and 0.020 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2ad9c461939968b8732f6666dd15b927-138"}},"extra_info":{"index":404,"token":"waymo_e2e::2ad9c461939968b8732f6666dd15b927-138","id":"waymo_e2e::2ad9c461939968b8732f6666dd15b927-138","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.54,-0.00), (4.73,0.00), (6.49,0.04), (7.81,0.11), (8.77,0.22), (9.54,0.37), (10.22,0.53), (11.03,0.75), (12.13,1.06), (13.75,1.47)]\nOption B\n  waypoints xy: [(7.45,-0.01), (14.99,-0.02), (22.62,-0.04), (30.32,-0.05), (38.08,-0.06), (45.90,-0.07), (53.79,-0.07), (61.73,-0.07), (69.70,-0.07), (77.67,-0.03)]\nOption C\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption D\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption E\n  waypoints xy: [(3.11,0.00), (6.21,0.00), (9.30,-0.01), (12.37,-0.03), (15.43,-0.06), (18.46,-0.09), (21.45,-0.12), (24.40,-0.15), (27.32,-0.18), (30.20,-0.21)]\nOption F\n  waypoints xy: [(5.33,-0.02), (10.62,-0.10), (15.89,-0.28), (21.13,-0.43), (26.34,-0.51), (31.54,-0.53), (36.72,-0.53), (41.88,-0.53), (47.03,-0.52), (52.17,-0.51)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.0964004983042095,"cv_gap":16.673}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/c32624fbfde8a4fa7b3384502a40f832-087/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c32624fbfde8a4fa7b3384502a40f832-087/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c32624fbfde8a4fa7b3384502a40f832-087/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.381 m/s at x-direction and -0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.403 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c32624fbfde8a4fa7b3384502a40f832-087"}},"extra_info":{"index":405,"token":"waymo_e2e::c32624fbfde8a4fa7b3384502a40f832-087","id":"waymo_e2e::c32624fbfde8a4fa7b3384502a40f832-087","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.92,0.00), (3.51,0.01), (4.75,0.02), (5.61,0.03), (6.09,0.03), (6.27,0.03), (6.30,0.04), (6.30,0.04), (6.33,0.04), (6.41,0.04)]\nOption B\n  waypoints xy: [(2.09,-0.04), (4.24,-0.09), (6.46,-0.13), (8.72,-0.15), (11.02,-0.15), (13.22,-0.13), (15.34,-0.11), (17.46,-0.07), (19.60,-0.03), (21.76,-0.00)]\nOption C\n  waypoints xy: [(7.74,-0.02), (15.49,-0.04), (23.24,-0.07), (30.99,-0.09), (38.75,-0.11), (46.52,-0.13), (54.31,-0.14), (62.10,-0.17), (69.89,-0.22), (77.67,-0.29)]\nOption D\n  waypoints xy: [(5.21,-0.00), (10.29,0.03), (15.29,0.07), (20.25,0.11), (25.21,0.15), (30.18,0.19), (35.18,0.23), (40.26,0.30), (45.29,0.41), (50.37,0.55)]\nOption E\n  waypoints xy: [(11.51,0.01), (23.01,0.04), (34.52,0.09), (46.03,0.16), (57.54,0.25), (69.05,0.34), (80.55,0.44), (92.03,0.53), (103.51,0.62), (114.98,0.71)]\nOption F\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.380756968680143,"cv_gap":15.551}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"KerMNOBKwj","cam_id":"4_resize","sample_timestamps":["000000015412_000700000000","000000015413_000200000000","000000015413_000700000000","000000015414_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000015414_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"KerMNOBKwj","cam_id":"2","sample_timestamps":["000000015412_000700000000","000000015413_000200000000","000000015413_000700000000","000000015414_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000015414_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"KerMNOBKwj","cam_id":"7","sample_timestamps":["000000015412_000700000000","000000015413_000200000000","000000015413_000700000000","000000015414_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000015414_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with an acceleration**. The ego vehicle's current velocity is 5.900 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and 0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"KerMNOBKwj"}},"extra_info":{"index":406,"token":"KerMNOBKwj","id":"KerMNOBKwj","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.56,0.04), (13.04,0.15), (19.46,0.31), (25.79,0.55), (32.01,0.85), (38.11,1.23), (44.07,1.64), (49.83,2.13), (55.33,2.66), (60.59,3.24)]\nOption B\n  waypoints xy: [(6.13,-0.13), (12.30,-0.45), (18.48,-1.01), (24.66,-1.79), (30.82,-2.79), (36.94,-3.98), (42.99,-5.34), (48.98,-6.83), (54.89,-8.41), (60.70,-10.07)]\nOption C\n  waypoints xy: [(2.15,-0.32), (4.29,-0.94), (6.33,-1.94), (8.17,-3.39), (9.77,-5.34), (11.17,-7.82), (12.25,-10.80), (12.93,-14.24), (13.45,-18.03), (13.96,-22.02)]\nOption D\n  waypoints xy: [(2.82,0.05), (5.60,0.24), (8.31,0.57), (10.94,1.05), (13.49,1.72), (15.96,2.61), (18.34,3.74), (20.61,5.08), (22.75,6.62), (24.76,8.31)]\nOption E\n  waypoints xy: [(2.83,-0.04), (5.76,-0.13), (8.74,-0.25), (11.75,-0.40), (14.78,-0.57), (17.80,-0.76), (20.82,-0.96), (23.85,-1.18), (26.89,-1.40), (29.93,-1.60)]\nOption F\n  waypoints xy: [(2.18,-0.39), (4.39,-1.13), (6.59,-2.19), (8.81,-3.51), (11.04,-5.02), (13.29,-6.67), (15.54,-8.39), (17.78,-10.15), (20.00,-11.92), (22.21,-13.71)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.907622195096772,"cv_gap":12.02}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Q5jOeeHynv","cam_id":"4_resize","sample_timestamps":["000000000863_000850000000","000000000864_000100000000","000000000864_000350000000","000000000864_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000864_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Q5jOeeHynv","cam_id":"2","sample_timestamps":["000000000863_000100000000","000000000863_000600000000","000000000864_000100000000","000000000864_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000864_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Q5jOeeHynv","cam_id":"7","sample_timestamps":["000000000863_000100000000","000000000863_000600000000","000000000864_000100000000","000000000864_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000864_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn right with an acceleration**. The ego vehicle's current velocity is 8.500 m/s at x-direction and 0.200 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and -1.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"Q5jOeeHynv"}},"extra_info":{"index":407,"token":"Q5jOeeHynv","id":"Q5jOeeHynv","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.94,-0.57), (6.08,-1.66), (9.47,-3.15), (13.12,-4.92), (17.01,-6.91), (21.10,-9.05), (25.35,-11.29), (29.71,-13.59), (34.18,-15.92), (38.70,-18.27)]\nOption B\n  waypoints xy: [(1.08,0.12), (2.18,0.44), (3.30,0.96), (4.44,1.66), (5.59,2.52), (6.76,3.48), (7.94,4.52), (9.13,5.60), (10.33,6.68), (11.53,7.77)]\nOption C\n  waypoints xy: [(4.05,0.18), (8.19,0.63), (12.39,1.35), (16.63,2.31), (20.87,3.50), (25.08,4.88), (29.24,6.40), (33.33,8.04), (37.31,9.78), (41.17,11.59)]\nOption D\n  waypoints xy: [(2.26,-0.74), (4.50,-2.25), (6.65,-4.54), (8.78,-7.50), (11.00,-11.07), (13.39,-15.16), (15.96,-19.70), (18.69,-24.58), (21.51,-29.70), (24.37,-34.95)]\nOption E\n  waypoints xy: [(4.22,0.01), (8.48,0.06), (12.78,0.12), (17.09,0.22), (21.41,0.33), (25.73,0.46), (30.04,0.58), (34.29,0.68), (38.49,0.76), (42.60,0.84)]\nOption F\n  waypoints xy: [(1.03,-0.06), (2.17,-0.18), (3.44,-0.37), (4.78,-0.64), (6.13,-0.99), (7.46,-1.39), (8.78,-1.83), (10.10,-2.26), (11.41,-2.69), (12.72,-3.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.50235261559999,"cv_gap":10.178}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-145/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-145/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-145/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.342 m/s at x-direction and -0.031 m/s at y-direction. The ego vehicle's current acceleration is -0.565 m/s^2 at x-direction and 0.229 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-145"}},"extra_info":{"index":408,"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-145","id":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-145","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(-0.37,0.06), (-0.79,0.11), (-1.25,0.14), (-1.71,0.13), (-2.15,0.10), (-2.54,0.06), (-2.85,0.02), (-3.07,0.02), (-3.21,0.09), (-3.30,0.24)]\nOption B\n  waypoints xy: [(6.63,-0.02), (12.82,-0.08), (18.53,-0.17), (23.75,-0.29), (28.40,-0.40), (32.69,-0.30), (36.88,0.32), (40.79,1.52), (44.22,3.14), (47.06,5.02)]\nOption C\n  waypoints xy: [(1.56,-0.39), (3.07,-1.11), (4.46,-2.15), (5.70,-3.45), (6.78,-4.94), (7.74,-6.53), (8.66,-8.18), (9.56,-9.91), (10.49,-11.70), (11.45,-13.54)]\nOption D\n  waypoints xy: [(1.37,-0.34), (2.67,-0.99), (3.84,-1.93), (4.87,-3.17), (5.73,-4.66), (6.48,-6.39), (7.17,-8.33), (7.85,-10.48), (8.54,-12.82), (9.27,-15.33)]\nOption E\n  waypoints xy: [(4.66,-0.01), (9.35,-0.02), (14.05,-0.04), (18.75,-0.06), (23.45,-0.09), (28.14,-0.13), (32.81,-0.18), (37.44,-0.23), (42.05,-0.28), (46.60,-0.33)]\nOption F\n  waypoints xy: [(3.99,-0.04), (7.50,-0.09), (10.56,-0.14), (13.11,-0.19), (15.09,-0.21), (16.47,-0.23), (17.31,-0.24), (17.70,-0.25), (17.83,-0.25), (17.84,-0.25)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.342297773134076,"cv_gap":29.284}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/811569f0987d9aa32f541676e8fc213b-184/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/811569f0987d9aa32f541676e8fc213b-184/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/811569f0987d9aa32f541676e8fc213b-184/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.783 m/s at x-direction and 0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.086 m/s^2 at x-direction and -0.006 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::811569f0987d9aa32f541676e8fc213b-184"}},"extra_info":{"index":409,"token":"waymo_e2e::811569f0987d9aa32f541676e8fc213b-184","id":"waymo_e2e::811569f0987d9aa32f541676e8fc213b-184","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.55,-0.01), (9.10,-0.03), (13.62,-0.05), (18.10,-0.08), (22.51,-0.10), (26.85,-0.12), (31.10,-0.14), (35.24,-0.16), (39.27,-0.18), (43.21,-0.21)]\nOption B\n  waypoints xy: [(2.35,-0.00), (4.36,-0.01), (6.00,-0.01), (7.26,-0.02), (8.14,-0.02), (8.66,-0.02), (8.88,-0.02), (8.95,-0.02), (8.98,-0.02), (9.04,-0.02)]\nOption C\n  waypoints xy: [(5.52,-0.02), (11.04,-0.04), (16.58,-0.07), (22.16,-0.12), (27.76,-0.17), (33.41,-0.24), (39.09,-0.32), (44.80,-0.41), (50.54,-0.51), (56.32,-0.63)]\nOption D\n  waypoints xy: [(4.42,-0.03), (8.83,-0.12), (13.25,-0.27), (17.63,-0.46), (21.97,-0.69), (26.24,-0.94), (30.42,-1.18), (34.45,-1.43), (38.33,-1.66), (42.06,-1.90)]\nOption E\n  waypoints xy: [(2.40,-0.00), (4.81,-0.01), (7.21,-0.01), (9.60,-0.01), (11.97,-0.02), (14.32,-0.03), (16.65,-0.04), (18.97,-0.05), (21.28,-0.07), (23.58,-0.09)]\nOption F\n  waypoints xy: [(5.01,0.01), (10.11,0.07), (15.29,0.19), (20.53,0.40), (25.81,0.72), (31.14,1.13), (36.50,1.62), (41.87,2.16), (47.24,2.74), (52.60,3.34)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.783402734565175,"cv_gap":14.935}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0b860fa8c13bc787e68cc44765b8064b-130/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0b860fa8c13bc787e68cc44765b8064b-130/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0b860fa8c13bc787e68cc44765b8064b-130/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.722 m/s at x-direction and -0.028 m/s at y-direction. The ego vehicle's current acceleration is -0.478 m/s^2 at x-direction and 0.255 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0b860fa8c13bc787e68cc44765b8064b-130"}},"extra_info":{"index":410,"token":"waymo_e2e::0b860fa8c13bc787e68cc44765b8064b-130","id":"waymo_e2e::0b860fa8c13bc787e68cc44765b8064b-130","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.34,0.00), (8.69,0.01), (13.05,0.01), (17.43,0.00), (21.83,-0.01), (26.25,-0.03), (30.69,-0.05), (35.12,-0.08), (39.55,-0.10), (43.93,-0.11)]\nOption B\n  waypoints xy: [(5.30,-0.00), (10.57,-0.01), (15.83,-0.02), (21.07,-0.03), (26.29,-0.04), (31.51,-0.08), (36.72,-0.12), (41.94,-0.18), (47.16,-0.24), (52.40,-0.30)]\nOption C\n  waypoints xy: [(3.60,-0.00), (6.85,0.01), (9.66,0.03), (11.98,0.05), (13.76,0.08), (15.00,0.09), (15.73,0.10), (16.05,0.11), (16.12,0.11), (16.14,0.11)]\nOption D\n  waypoints xy: [(0.50,-0.04), (1.24,-0.15), (2.25,-0.41), (3.47,-0.94), (4.76,-1.87), (5.96,-3.27), (6.93,-5.17), (7.65,-7.53), (8.19,-10.32), (8.65,-13.50)]\nOption E\n  waypoints xy: [(11.53,-0.03), (23.02,-0.09), (34.48,-0.17), (45.94,-0.27), (57.40,-0.39), (68.87,-0.54), (80.34,-0.69), (91.80,-0.86), (103.25,-1.02), (114.70,-1.20)]\nOption F\n  waypoints xy: [(1.72,-0.27), (3.35,-0.86), (4.81,-1.78), (6.07,-3.00), (7.06,-4.47), (7.80,-6.15), (8.30,-7.94), (8.64,-9.75), (8.87,-11.56), (9.03,-13.34)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.722117724048285,"cv_gap":27.823}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/63ca72786d681923b7019f239187419a-112/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/63ca72786d681923b7019f239187419a-112/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/63ca72786d681923b7019f239187419a-112/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.641 m/s at x-direction and 0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.478 m/s^2 at x-direction and 0.003 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::63ca72786d681923b7019f239187419a-112"}},"extra_info":{"index":411,"token":"waymo_e2e::63ca72786d681923b7019f239187419a-112","id":"waymo_e2e::63ca72786d681923b7019f239187419a-112","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.55,0.02), (9.16,0.06), (13.83,0.12), (18.55,0.19), (23.31,0.26), (28.12,0.32), (32.94,0.38), (37.78,0.42), (42.63,0.46), (47.48,0.48)]\nOption B\n  waypoints xy: [(4.85,-0.00), (9.70,-0.01), (14.52,-0.03), (19.33,-0.05), (24.13,-0.07), (28.93,-0.09), (33.75,-0.11), (38.58,-0.12), (43.44,-0.14), (48.32,-0.15)]\nOption C\n  waypoints xy: [(2.50,-0.00), (4.54,-0.01), (6.02,-0.01), (7.00,-0.02), (7.59,-0.02), (7.89,-0.02), (8.00,-0.02), (8.02,-0.02), (8.02,-0.02), (8.02,-0.02)]\nOption D\n  waypoints xy: [(7.67,0.08), (15.37,0.08), (23.14,0.08), (30.97,0.16), (38.82,0.16), (46.71,0.25), (54.66,0.34), (62.65,0.43), (70.66,0.44), (78.64,0.54)]\nOption E\n  waypoints xy: [(4.57,0.01), (9.11,0.02), (13.60,0.05), (18.02,0.09), (22.32,0.13), (26.46,0.18), (30.40,0.22), (34.07,0.26), (37.47,0.30), (40.60,0.32)]\nOption F\n  waypoints xy: [(2.83,-0.01), (5.64,-0.02), (8.43,-0.04), (11.23,-0.06), (14.05,-0.07), (16.87,-0.08), (19.69,-0.08), (22.51,-0.10), (25.33,-0.11), (28.14,-0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.640762827528201,"cv_gap":20.263}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/1812536b3fda9a8a8ab7f6e8fb1c7fda-165/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/1812536b3fda9a8a8ab7f6e8fb1c7fda-165/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/1812536b3fda9a8a8ab7f6e8fb1c7fda-165/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 12.664 m/s at x-direction and -0.023 m/s at y-direction. The ego vehicle's current acceleration is -0.616 m/s^2 at x-direction and -0.007 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::1812536b3fda9a8a8ab7f6e8fb1c7fda-165"}},"extra_info":{"index":412,"token":"waymo_e2e::1812536b3fda9a8a8ab7f6e8fb1c7fda-165","id":"waymo_e2e::1812536b3fda9a8a8ab7f6e8fb1c7fda-165","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.01,0.00), (1.98,0.01), (2.91,0.03), (3.81,0.05), (4.67,0.08), (5.48,0.10), (6.27,0.14), (7.03,0.18), (7.77,0.23), (8.51,0.30)]\nOption B\n  waypoints xy: [(0.42,-0.01), (0.92,-0.02), (1.50,-0.03), (2.00,-0.04), (2.38,-0.06), (2.73,-0.08), (3.08,-0.10), (3.46,-0.13), (3.87,-0.17), (4.29,-0.23)]\nOption C\n  waypoints xy: [(2.22,-0.43), (4.62,-1.19), (7.22,-2.22), (10.06,-3.46), (13.12,-4.89), (16.42,-6.46), (19.90,-8.14), (23.51,-9.90), (27.22,-11.71), (30.96,-13.56)]\nOption D\n  waypoints xy: [(1.69,-0.42), (3.42,-1.43), (4.94,-3.16), (6.09,-5.61), (6.93,-8.69), (7.63,-12.37), (8.33,-16.60), (9.10,-21.35), (9.93,-26.52), (10.82,-32.02)]\nOption E\n  waypoints xy: [(6.30,-0.01), (12.62,-0.04), (18.94,-0.06), (25.28,-0.10), (31.63,-0.13), (37.99,-0.16), (44.37,-0.20), (50.78,-0.24), (57.22,-0.28), (63.69,-0.32)]\nOption F\n  waypoints xy: [(5.49,0.01), (10.60,0.05), (15.31,0.09), (19.61,0.15), (23.50,0.20), (26.79,0.25), (29.45,0.30), (31.47,0.34), (32.88,0.36), (33.76,0.38)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":12.664187738444726,"cv_gap":30.107}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/dbd2d26c5b1193cb040d76852e5019ca-045/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/dbd2d26c5b1193cb040d76852e5019ca-045/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/dbd2d26c5b1193cb040d76852e5019ca-045/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.358 m/s at x-direction and -0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.466 m/s^2 at x-direction and 0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::dbd2d26c5b1193cb040d76852e5019ca-045"}},"extra_info":{"index":413,"token":"waymo_e2e::dbd2d26c5b1193cb040d76852e5019ca-045","id":"waymo_e2e::dbd2d26c5b1193cb040d76852e5019ca-045","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.58,-0.00), (5.19,-0.00), (7.84,0.00), (10.53,0.02), (13.25,0.04), (15.98,0.06), (18.69,0.09), (21.38,0.11), (24.03,0.13), (26.67,0.14)]\nOption B\n  waypoints xy: [(2.27,0.00), (4.11,0.00), (5.48,0.01), (6.37,0.01), (6.82,0.01), (6.95,0.01), (6.95,0.01), (6.96,0.01), (7.04,0.01), (7.26,0.01)]\nOption C\n  waypoints xy: [(5.25,0.01), (10.67,0.04), (16.21,0.09), (21.88,0.15), (27.61,0.19), (33.33,0.23), (38.92,0.28), (44.36,0.35), (49.72,0.45), (55.29,0.56)]\nOption D\n  waypoints xy: [(6.10,0.07), (11.84,0.34), (17.21,0.65), (22.21,1.12), (26.87,1.56), (31.20,2.02), (35.32,2.50), (39.28,2.96), (42.88,3.38), (46.04,3.76)]\nOption E\n  waypoints xy: [(4.31,-0.01), (8.69,-0.00), (12.95,0.02), (16.85,0.06), (20.44,0.09), (23.90,0.14), (27.38,0.18), (30.85,0.22), (34.27,0.25), (37.63,0.27)]\nOption F\n  waypoints xy: [(6.43,0.00), (12.80,0.00), (19.10,0.00), (25.37,0.00), (31.57,0.00), (37.71,0.07), (43.81,0.07), (49.85,0.13), (55.81,0.13), (61.76,0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.357657199935408,"cv_gap":19.859}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"UCxiMZfWxz","cam_id":"4_resize","sample_timestamps":["000000009871_000300000000","000000009871_000800000000","000000009872_000300000000","000000009872_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009872_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"UCxiMZfWxz","cam_id":"2","sample_timestamps":["000000009871_000300000000","000000009871_000800000000","000000009872_000300000000","000000009872_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009872_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"UCxiMZfWxz","cam_id":"7","sample_timestamps":["000000009871_000300000000","000000009871_000800000000","000000009872_000300000000","000000009872_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009872_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 8.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"UCxiMZfWxz"}},"extra_info":{"index":414,"token":"UCxiMZfWxz","id":"UCxiMZfWxz","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.29,0.63), (2.59,1.85), (3.68,3.53), (4.50,5.46), (5.13,7.49), (5.69,9.50), (6.30,11.62), (6.97,13.88), (7.70,16.30), (8.48,18.80)]\nOption B\n  waypoints xy: [(1.39,-0.17), (2.95,-0.62), (4.57,-1.45), (6.07,-2.76), (7.30,-4.57), (8.07,-6.83), (8.37,-9.45), (8.39,-12.32), (8.35,-15.46), (8.33,-18.87)]\nOption C\n  waypoints xy: [(4.40,-0.00), (8.80,-0.01), (13.18,-0.01), (17.54,0.01), (21.88,0.02), (26.20,0.05), (30.49,0.08), (34.76,0.11), (39.00,0.13), (43.21,0.15)]\nOption D\n  waypoints xy: [(3.91,-0.01), (7.51,-0.03), (10.76,-0.06), (13.59,-0.08), (15.98,-0.11), (17.86,-0.13), (19.21,-0.15), (20.05,-0.16), (20.46,-0.16), (20.62,-0.16)]\nOption E\n  waypoints xy: [(6.78,-0.04), (13.55,-0.12), (20.30,-0.27), (27.02,-0.47), (33.69,-0.72), (40.32,-1.01), (46.91,-1.32), (53.45,-1.66), (59.94,-2.00), (66.36,-2.35)]\nOption F\n  waypoints xy: [(14.01,0.00), (28.05,0.00), (42.13,0.02), (56.24,0.03), (70.38,0.04), (84.56,0.06), (98.76,0.08), (112.97,0.10), (127.19,0.12), (141.41,0.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.7,"cv_gap":22.457}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"4l2KXBU353","cam_id":"4_resize","sample_timestamps":["000000017758_000900000000","000000017759_000400000000","000000017759_000900000000","000000017760_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000017760_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4l2KXBU353","cam_id":"2","sample_timestamps":["000000017758_000900000000","000000017759_000400000000","000000017759_000900000000","000000017760_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000017760_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4l2KXBU353","cam_id":"7","sample_timestamps":["000000017758_000900000000","000000017759_000400000000","000000017759_000900000000","000000017760_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000017760_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.300 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"4l2KXBU353"}},"extra_info":{"index":415,"token":"4l2KXBU353","id":"4l2KXBU353","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.10,-0.07), (12.06,-0.20), (17.88,-0.46), (23.57,-0.65), (29.09,-0.84), (34.43,-0.96), (39.53,-1.02), (44.41,-1.03), (49.03,-1.03), (53.40,-1.09)]\nOption B\n  waypoints xy: [(3.72,0.01), (7.47,0.05), (11.25,0.12), (15.06,0.22), (18.92,0.34), (22.80,0.49), (26.71,0.64), (30.64,0.81), (34.59,0.96), (38.52,1.12)]\nOption C\n  waypoints xy: [(2.37,-0.00), (4.72,-0.00), (7.07,-0.01), (9.42,-0.01), (11.75,-0.02), (14.06,-0.03), (16.34,-0.05), (18.60,-0.07), (20.87,-0.09), (23.12,-0.11)]\nOption D\n  waypoints xy: [(5.73,0.01), (11.50,0.02), (17.30,0.04), (23.12,0.06), (28.92,0.08), (34.71,0.09), (40.49,0.09), (46.25,0.10), (51.97,0.12), (57.64,0.14)]\nOption E\n  waypoints xy: [(1.03,0.00), (1.91,0.01), (2.69,0.04), (3.42,0.06), (4.12,0.09), (4.85,0.11), (5.62,0.14), (6.50,0.16), (7.45,0.20), (8.39,0.23)]\nOption F\n  waypoints xy: [(2.51,-0.70), (4.99,-2.18), (7.36,-4.42), (9.66,-7.29), (12.05,-10.66), (14.60,-14.45), (17.35,-18.60), (20.27,-23.03), (23.31,-27.68), (26.45,-32.49)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.6,"cv_gap":14.49}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/6e8c9ff63d2a4708eee8d8119c70da43-036/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6e8c9ff63d2a4708eee8d8119c70da43-036/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6e8c9ff63d2a4708eee8d8119c70da43-036/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.616 m/s at x-direction and -0.001 m/s at y-direction. The ego vehicle's current acceleration is -0.159 m/s^2 at x-direction and -0.037 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::6e8c9ff63d2a4708eee8d8119c70da43-036"}},"extra_info":{"index":416,"token":"waymo_e2e::6e8c9ff63d2a4708eee8d8119c70da43-036","id":"waymo_e2e::6e8c9ff63d2a4708eee8d8119c70da43-036","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.76,0.05), (11.58,0.20), (17.44,0.45), (23.36,0.75), (29.32,1.07), (35.33,1.36), (41.38,1.60), (47.47,1.81), (53.59,1.97), (59.72,2.08)]\nOption B\n  waypoints xy: [(2.83,-0.01), (5.64,-0.02), (8.43,-0.04), (11.23,-0.06), (14.05,-0.07), (16.87,-0.08), (19.69,-0.08), (22.51,-0.10), (25.33,-0.11), (28.14,-0.14)]\nOption C\n  waypoints xy: [(4.42,-0.03), (8.83,-0.12), (13.25,-0.27), (17.63,-0.46), (21.97,-0.69), (26.24,-0.94), (30.42,-1.18), (34.45,-1.43), (38.33,-1.66), (42.06,-1.90)]\nOption D\n  waypoints xy: [(6.43,-0.03), (12.88,-0.10), (19.33,-0.20), (25.77,-0.34), (32.20,-0.52), (38.61,-0.72), (45.02,-0.94), (51.41,-1.17), (57.79,-1.40), (64.13,-1.64)]\nOption E\n  waypoints xy: [(2.85,0.01), (5.13,0.02), (6.76,0.03), (7.68,0.04), (8.05,0.04), (8.11,0.04), (8.12,0.04), (8.12,0.04), (8.19,0.04), (8.43,0.04)]\nOption F\n  waypoints xy: [(3.76,0.01), (7.69,0.03), (11.76,0.07), (15.96,0.13), (20.25,0.20), (24.61,0.28), (29.03,0.35), (33.45,0.42), (37.85,0.48), (42.21,0.55)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.615878657260495,"cv_gap":19.497}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/7662f1efa522d9474d75fb6a7cdb6509-188/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/7662f1efa522d9474d75fb6a7cdb6509-188/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/7662f1efa522d9474d75fb6a7cdb6509-188/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.413 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.253 m/s^2 at x-direction and 0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::7662f1efa522d9474d75fb6a7cdb6509-188"}},"extra_info":{"index":417,"token":"waymo_e2e::7662f1efa522d9474d75fb6a7cdb6509-188","id":"waymo_e2e::7662f1efa522d9474d75fb6a7cdb6509-188","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.53,-0.00), (8.93,0.00), (13.19,0.02), (17.33,0.04), (21.29,0.04), (25.03,0.04), (28.50,0.02), (31.63,-0.00), (34.42,-0.02), (36.81,-0.03)]\nOption B\n  waypoints xy: [(7.96,-0.04), (15.92,-0.12), (23.88,-0.26), (31.85,-0.45), (39.81,-0.66), (47.76,-0.91), (55.70,-1.18), (63.61,-1.46), (71.50,-1.76), (79.36,-2.04)]\nOption C\n  waypoints xy: [(5.65,-0.00), (11.04,-0.01), (16.09,-0.01), (20.74,-0.02), (24.94,-0.02), (28.68,-0.03), (31.96,-0.04), (34.82,-0.06), (37.26,-0.08), (39.33,-0.09)]\nOption D\n  waypoints xy: [(1.74,-0.00), (3.24,-0.00), (4.50,-0.01), (5.52,-0.01), (6.34,-0.02), (6.99,-0.02), (7.54,-0.02), (8.04,-0.02), (8.58,-0.02), (9.17,-0.02)]\nOption E\n  waypoints xy: [(1.70,-0.00), (3.41,0.02), (5.13,0.01), (6.86,0.01), (8.60,0.01), (10.35,0.01), (12.07,-0.01), (13.73,-0.04), (15.33,-0.05), (16.85,-0.08)]\nOption F\n  waypoints xy: [(4.94,0.01), (9.89,0.03), (14.86,0.05), (19.86,0.08), (24.88,0.11), (29.92,0.15), (34.98,0.19), (40.08,0.25), (45.19,0.32), (50.27,0.41)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.413421125078192,"cv_gap":7.919}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"JYsmTvxEOa","cam_id":"4_resize","sample_timestamps":["000000000480_000100000000","000000000480_000600000000","000000000481_000100000000","000000000481_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000481_000650000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JYsmTvxEOa","cam_id":"2","sample_timestamps":["000000000480_000100000000","000000000480_000600000000","000000000481_000100000000","000000000481_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000481_000650000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JYsmTvxEOa","cam_id":"7","sample_timestamps":["000000000480_000100000000","000000000480_000600000000","000000000481_000100000000","000000000481_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000481_000650000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.500 m/s at x-direction and 0.200 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"JYsmTvxEOa"}},"extra_info":{"index":418,"token":"JYsmTvxEOa","id":"JYsmTvxEOa","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.56,-0.44), (7.43,-1.37), (11.64,-2.53), (16.22,-3.82), (21.17,-5.18), (26.47,-6.61), (32.12,-8.11), (37.99,-9.61), (43.96,-11.10), (49.99,-12.61)]\nOption B\n  waypoints xy: [(0.67,-0.03), (1.33,-0.14), (1.97,-0.32), (2.58,-0.58), (3.16,-0.89), (3.71,-1.25), (4.22,-1.66), (4.69,-2.09), (5.12,-2.55), (5.54,-3.05)]\nOption C\n  waypoints xy: [(4.23,-0.00), (8.48,-0.01), (12.72,-0.00), (16.96,0.01), (21.20,0.02), (25.42,0.04), (29.64,0.05), (33.87,0.07), (38.11,0.08), (42.34,0.10)]\nOption D\n  waypoints xy: [(3.41,0.01), (6.88,0.03), (10.38,0.07), (13.93,0.10), (17.52,0.14), (21.16,0.17), (24.84,0.18), (28.57,0.20), (32.32,0.20), (36.08,0.21)]\nOption E\n  waypoints xy: [(3.75,-0.01), (7.58,-0.04), (11.41,-0.08), (15.12,-0.14), (18.67,-0.21), (21.94,-0.30), (25.02,-0.39), (28.06,-0.47), (31.00,-0.53), (33.70,-0.59)]\nOption F\n  waypoints xy: [(0.75,0.03), (1.51,0.08), (2.28,0.15), (3.06,0.25), (3.84,0.36), (4.63,0.48), (5.42,0.62), (6.22,0.77), (7.02,0.94), (7.80,1.12)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.5132745950421556,"cv_gap":4.227}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/945063b5b287cb90b46c6f321e525451-049/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/945063b5b287cb90b46c6f321e525451-049/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/945063b5b287cb90b46c6f321e525451-049/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 3.132 m/s at x-direction and -0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.480 m/s^2 at x-direction and -0.010 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::945063b5b287cb90b46c6f321e525451-049"}},"extra_info":{"index":419,"token":"waymo_e2e::945063b5b287cb90b46c6f321e525451-049","id":"waymo_e2e::945063b5b287cb90b46c6f321e525451-049","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.16,-0.00), (2.08,0.00), (2.69,0.01), (2.98,0.02), (2.95,0.02), (2.95,0.02), (2.95,0.02), (2.94,0.02), (2.94,0.02), (2.93,0.02)]\nOption B\n  waypoints xy: [(1.54,-0.00), (3.09,-0.01), (4.64,-0.01), (6.18,-0.02), (7.73,-0.03), (9.25,-0.04), (10.79,-0.05), (12.38,-0.05), (14.04,-0.04), (15.75,-0.03)]\nOption C\n  waypoints xy: [(5.19,0.01), (10.32,0.03), (15.41,0.04), (20.44,0.02), (25.37,-0.02), (30.20,-0.07), (34.92,-0.13), (39.52,-0.19), (43.94,-0.25), (48.18,-0.29)]\nOption D\n  waypoints xy: [(7.38,-0.00), (14.80,0.00), (22.28,0.02), (29.80,0.04), (37.35,0.07), (44.90,0.10), (52.32,0.14), (59.36,0.20), (66.22,0.29), (73.04,0.38)]\nOption E\n  waypoints xy: [(5.63,0.01), (11.42,0.03), (17.37,0.06), (23.45,0.10), (29.63,0.13), (35.91,0.16), (42.26,0.18), (48.67,0.21), (55.11,0.24), (61.57,0.29)]\nOption F\n  waypoints xy: [(6.04,0.00), (12.10,0.01), (18.13,0.03), (24.16,0.03), (30.22,0.02), (36.31,0.01), (42.38,0.01), (48.42,0.04), (54.49,0.08), (60.60,0.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.1322777017683436,"cv_gap":12.623}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/26f3528e7e5e9500515f45fd32bde670-101/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/26f3528e7e5e9500515f45fd32bde670-101/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/26f3528e7e5e9500515f45fd32bde670-101/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.550 m/s at x-direction and 0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.249 m/s^2 at x-direction and -0.019 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::26f3528e7e5e9500515f45fd32bde670-101"}},"extra_info":{"index":420,"token":"waymo_e2e::26f3528e7e5e9500515f45fd32bde670-101","id":"waymo_e2e::26f3528e7e5e9500515f45fd32bde670-101","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.91,-0.42), (1.53,-0.87), (2.02,-1.37), (2.47,-2.01), (2.91,-2.87), (3.37,-3.97), (3.82,-5.30), (4.25,-6.89), (4.76,-8.70), (5.36,-10.69)]\nOption B\n  waypoints xy: [(8.87,-0.06), (17.75,-0.24), (26.66,-0.52), (35.60,-0.93), (44.56,-1.46), (53.57,-2.10), (62.61,-2.86), (71.67,-3.72), (80.75,-4.66), (89.84,-5.67)]\nOption C\n  waypoints xy: [(3.27,0.01), (6.56,0.03), (9.87,0.06), (13.17,0.08), (16.48,0.10), (19.80,0.11), (23.11,0.12), (26.39,0.12), (29.63,0.12), (32.85,0.11)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(6.21,-0.04), (12.52,-0.15), (18.93,-0.30), (25.44,-0.48), (32.04,-0.66), (38.70,-0.79), (45.39,-0.87), (52.11,-0.90), (58.85,-0.88), (65.59,-0.83)]\nOption F\n  waypoints xy: [(3.10,-0.00), (5.83,-0.00), (8.14,0.01), (9.97,0.02), (11.30,0.03), (12.16,0.04), (12.60,0.04), (12.75,0.04), (12.78,0.04), (12.82,0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.549844280060996,"cv_gap":19.989}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/0490105184974595c9190e853f0c93f2-050/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/0490105184974595c9190e853f0c93f2-050/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/0490105184974595c9190e853f0c93f2-050/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.351 m/s at x-direction and -0.015 m/s at y-direction. The ego vehicle's current acceleration is -0.241 m/s^2 at x-direction and -0.017 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0490105184974595c9190e853f0c93f2-050"}},"extra_info":{"index":421,"token":"waymo_e2e::0490105184974595c9190e853f0c93f2-050","id":"waymo_e2e::0490105184974595c9190e853f0c93f2-050","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(12.83,-0.00), (25.62,0.01), (38.41,0.04), (51.23,0.07), (64.09,0.12), (76.99,0.13), (89.92,0.14), (102.89,0.12), (115.88,0.10), (128.89,0.08)]\nOption B\n  waypoints xy: [(6.75,0.04), (13.48,0.18), (20.21,0.45), (26.93,0.79), (33.65,1.12), (40.37,1.42), (47.08,1.65), (53.80,1.81), (60.54,1.90), (67.31,1.93)]\nOption C\n  waypoints xy: [(1.73,0.00), (3.25,0.01), (4.55,0.02), (5.62,0.02), (6.46,0.03), (7.07,0.03), (7.48,0.03), (7.72,0.03), (7.89,0.04), (8.03,0.04)]\nOption D\n  waypoints xy: [(3.98,-0.14), (8.20,-0.47), (12.60,-0.97), (17.12,-1.61), (21.74,-2.32), (26.46,-3.07), (31.23,-3.83), (36.02,-4.60), (40.79,-5.36), (45.51,-6.10)]\nOption E\n  waypoints xy: [(13.87,-0.03), (27.71,-0.09), (41.42,-0.11), (55.01,-0.07), (68.53,0.04), (82.01,0.19), (95.43,0.33), (108.82,0.45), (122.19,0.52), (135.61,0.56)]\nOption F\n  waypoints xy: [(2.17,-0.02), (4.34,-0.04), (6.53,-0.08), (8.74,-0.11), (10.94,-0.14), (13.13,-0.15), (15.28,-0.15), (17.41,-0.13), (19.53,-0.10), (21.61,-0.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.351404840828984,"cv_gap":13.201}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"2T2sRfWD3K","cam_id":"4_resize","sample_timestamps":["000000008007_000250000000","000000008007_000500000000","000000008007_000750000000","000000008008_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000008008_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2T2sRfWD3K","cam_id":"2","sample_timestamps":["000000008006_000500000000","000000008007_000000000000","000000008007_000500000000","000000008008_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000008008_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2T2sRfWD3K","cam_id":"7","sample_timestamps":["000000008006_000500000000","000000008007_000000000000","000000008007_000500000000","000000008008_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000008008_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 7.200 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"2T2sRfWD3K"}},"extra_info":{"index":422,"token":"2T2sRfWD3K","id":"2T2sRfWD3K","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(13.21,-0.16), (26.38,-0.67), (39.50,-1.51), (52.56,-2.68), (65.56,-4.17), (78.52,-5.95), (91.43,-8.00), (104.28,-10.29), (117.10,-12.81), (129.88,-15.52)]\nOption B\n  waypoints xy: [(3.28,-0.01), (6.30,-0.01), (8.99,-0.02), (11.28,-0.03), (13.10,-0.03), (14.41,-0.03), (15.21,-0.03), (15.57,-0.03), (15.66,-0.03), (15.67,-0.03)]\nOption C\n  waypoints xy: [(5.15,0.01), (10.29,0.02), (15.41,0.03), (20.52,0.05), (25.61,0.06), (30.69,0.07), (35.79,0.08), (40.89,0.08), (46.00,0.09), (51.12,0.09)]\nOption D\n  waypoints xy: [(1.20,-0.28), (2.38,-0.82), (3.52,-1.62), (4.58,-2.67), (5.57,-3.93), (6.50,-5.36), (7.41,-6.92), (8.30,-8.57), (9.18,-10.27), (10.04,-12.02)]\nOption E\n  waypoints xy: [(0.24,-0.02), (0.66,-0.06), (1.40,-0.20), (2.49,-0.53), (3.84,-1.24), (5.26,-2.47), (6.52,-4.29), (7.53,-6.67), (8.30,-9.55), (8.95,-12.90)]\nOption F\n  waypoints xy: [(3.64,-0.01), (7.21,-0.02), (10.76,-0.02), (14.32,-0.03), (17.89,-0.03), (21.49,-0.03), (25.15,-0.02), (28.86,-0.02), (32.61,-0.01), (36.40,0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.2,"cv_gap":20.11}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/b7809634e9e5b79defa9336572fef620-153/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b7809634e9e5b79defa9336572fef620-153/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/b7809634e9e5b79defa9336572fef620-153/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.871 m/s at x-direction and -0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.475 m/s^2 at x-direction and 0.007 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b7809634e9e5b79defa9336572fef620-153"}},"extra_info":{"index":423,"token":"waymo_e2e::b7809634e9e5b79defa9336572fef620-153","id":"waymo_e2e::b7809634e9e5b79defa9336572fef620-153","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.55,0.02), (2.85,0.04), (3.98,0.06), (4.95,0.07), (5.77,0.08), (6.49,0.08), (7.18,0.09), (7.88,0.11), (8.65,0.12), (9.54,0.13)]\nOption B\n  waypoints xy: [(1.82,-0.01), (3.69,-0.02), (5.61,-0.03), (7.58,-0.05), (9.56,-0.08), (11.53,-0.10), (13.46,-0.13), (15.35,-0.17), (17.20,-0.21), (19.00,-0.26)]\nOption C\n  waypoints xy: [(7.61,0.02), (15.22,0.06), (22.80,0.16), (30.39,0.37), (38.02,0.73), (45.66,1.18), (53.30,1.64), (60.93,2.07), (68.55,2.44), (76.17,2.74)]\nOption D\n  waypoints xy: [(7.62,-0.03), (15.24,-0.09), (22.83,-0.16), (30.38,-0.25), (37.86,-0.34), (45.27,-0.41), (52.61,-0.48), (59.90,-0.52), (67.13,-0.55), (74.31,-0.56)]\nOption E\n  waypoints xy: [(4.64,0.01), (9.35,0.05), (14.14,0.14), (18.99,0.26), (23.91,0.37), (28.88,0.49), (33.87,0.61), (38.91,0.72), (44.02,0.84), (49.21,0.95)]\nOption F\n  waypoints xy: [(4.16,-0.06), (8.31,-0.23), (12.46,-0.50), (16.61,-0.86), (20.79,-1.31), (24.95,-1.80), (28.98,-2.29), (32.82,-2.75), (36.43,-3.20), (39.82,-3.64)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.8711646143513536,"cv_gap":10.116}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/dc8d295ffb2bada241e163b057161b19-108/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/dc8d295ffb2bada241e163b057161b19-108/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/dc8d295ffb2bada241e163b057161b19-108/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.599 m/s at x-direction and -0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.393 m/s^2 at x-direction and -0.024 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::dc8d295ffb2bada241e163b057161b19-108"}},"extra_info":{"index":424,"token":"waymo_e2e::dc8d295ffb2bada241e163b057161b19-108","id":"waymo_e2e::dc8d295ffb2bada241e163b057161b19-108","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.26,-0.01), (8.54,-0.02), (12.85,-0.02), (17.15,-0.00), (21.48,0.04), (25.81,0.08), (30.15,0.12), (34.50,0.14), (38.86,0.16), (43.22,0.17)]\nOption B\n  waypoints xy: [(1.09,-0.10), (2.30,-0.38), (3.54,-0.89), (4.77,-1.70), (5.91,-2.80), (6.93,-4.20), (7.80,-5.86), (8.55,-7.76), (9.19,-9.81), (9.77,-11.95)]\nOption C\n  waypoints xy: [(0.88,-0.31), (1.74,-0.79), (2.64,-1.46), (3.59,-2.31), (4.60,-3.36), (5.71,-4.60), (6.86,-6.05), (8.01,-7.71), (9.19,-9.57), (10.44,-11.58)]\nOption D\n  waypoints xy: [(3.72,-0.02), (7.03,-0.05), (9.85,-0.09), (12.11,-0.13), (13.73,-0.17), (14.71,-0.20), (15.16,-0.22), (15.29,-0.22), (15.31,-0.23), (15.35,-0.23)]\nOption E\n  waypoints xy: [(5.44,-0.00), (10.89,0.00), (16.33,0.02), (21.77,0.03), (27.20,0.03), (32.64,0.04), (38.07,0.04), (43.49,0.04), (48.91,0.02), (54.34,-0.00)]\nOption F\n  waypoints xy: [(5.05,0.22), (10.05,0.78), (14.99,1.68), (19.84,2.94), (24.60,4.56), (29.26,6.52), (33.79,8.80), (38.19,11.33), (42.48,14.06), (46.65,16.97)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.598991278772317,"cv_gap":27.424}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"XtX1nEzhOp","cam_id":"4_resize","sample_timestamps":["000000002764_000700000000","000000002765_000200000000","000000002765_000700000000","000000002766_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002766_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XtX1nEzhOp","cam_id":"2","sample_timestamps":["000000002764_000700000000","000000002765_000200000000","000000002765_000700000000","000000002766_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002766_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XtX1nEzhOp","cam_id":"7","sample_timestamps":["000000002764_000700000000","000000002765_000200000000","000000002765_000700000000","000000002766_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002766_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.400 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and 0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"XtX1nEzhOp"}},"extra_info":{"index":425,"token":"XtX1nEzhOp","id":"XtX1nEzhOp","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.26,0.00), (4.48,0.00), (6.65,-0.00), (8.79,-0.01), (10.99,-0.03), (13.24,-0.10), (15.53,-0.22), (17.84,-0.36), (20.15,-0.50), (22.48,-0.65)]\nOption B\n  waypoints xy: [(4.97,-0.02), (9.86,-0.08), (14.64,-0.18), (19.25,-0.32), (23.65,-0.48), (27.83,-0.65), (31.78,-0.82), (35.51,-0.99), (38.99,-1.15), (42.18,-1.30)]\nOption C\n  waypoints xy: [(7.78,0.00), (15.72,0.00), (23.76,0.00), (31.90,0.00), (40.16,-0.19), (48.52,-0.29), (56.95,-0.59), (65.39,-0.98), (73.81,-1.36), (82.18,-1.75)]\nOption D\n  waypoints xy: [(3.63,0.34), (7.31,1.01), (11.07,1.79), (14.97,2.62), (19.00,3.49), (23.15,4.39), (27.36,5.33), (31.64,6.30), (35.95,7.26), (40.31,8.23)]\nOption E\n  waypoints xy: [(12.10,0.03), (24.20,0.09), (36.32,0.18), (48.45,0.26), (60.61,0.37), (72.78,0.47), (84.97,0.58), (97.19,0.68), (109.42,0.79), (121.68,0.91)]\nOption F\n  waypoints xy: [(1.36,-0.09), (2.60,-0.26), (3.71,-0.49), (4.67,-0.76), (5.48,-1.02), (6.13,-1.27), (6.63,-1.48), (7.02,-1.66), (7.35,-1.84), (7.64,-2.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.401136216933078,"cv_gap":15.58}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-049/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-049/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-049/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.834 m/s at x-direction and 0.029 m/s at y-direction. The ego vehicle's current acceleration is -0.774 m/s^2 at x-direction and -0.184 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-049"}},"extra_info":{"index":426,"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-049","id":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-049","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.37,-0.34), (2.67,-0.99), (3.84,-1.93), (4.87,-3.17), (5.73,-4.66), (6.48,-6.39), (7.17,-8.33), (7.85,-10.48), (8.54,-12.82), (9.27,-15.33)]\nOption B\n  waypoints xy: [(1.56,-0.39), (3.07,-1.11), (4.46,-2.15), (5.70,-3.45), (6.78,-4.94), (7.74,-6.53), (8.66,-8.18), (9.56,-9.91), (10.49,-11.70), (11.45,-13.54)]\nOption C\n  waypoints xy: [(8.39,-0.04), (16.78,-0.14), (25.16,-0.33), (33.53,-0.57), (41.87,-0.90), (50.18,-1.30), (58.46,-1.75), (66.71,-2.28), (74.92,-2.88), (83.10,-3.53)]\nOption D\n  waypoints xy: [(5.98,-0.03), (12.00,-0.11), (18.08,-0.24), (24.24,-0.43), (30.48,-0.68), (36.79,-0.98), (43.13,-1.33), (49.51,-1.69), (55.91,-2.06), (62.32,-2.42)]\nOption E\n  waypoints xy: [(3.99,-0.04), (7.50,-0.09), (10.56,-0.14), (13.11,-0.19), (15.09,-0.21), (16.47,-0.23), (17.31,-0.24), (17.70,-0.25), (17.83,-0.25), (17.84,-0.25)]\nOption F\n  waypoints xy: [(5.44,-0.00), (10.89,0.00), (16.33,0.02), (21.77,0.03), (27.20,0.03), (32.64,0.04), (38.07,0.04), (43.49,0.04), (48.91,0.02), (54.34,-0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.834057420897166,"cv_gap":36.621}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-197/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-197/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-197/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 11.076 m/s at x-direction and -0.018 m/s at y-direction. The ego vehicle's current acceleration is -0.478 m/s^2 at x-direction and 0.034 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-197"}},"extra_info":{"index":427,"token":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-197","id":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-197","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.62,-0.01), (11.21,-0.03), (16.78,-0.08), (22.34,-0.12), (27.89,-0.15), (33.41,-0.15), (38.91,-0.14), (44.40,-0.11), (49.89,-0.07), (55.35,-0.03)]\nOption B\n  waypoints xy: [(1.85,-0.36), (3.72,-1.22), (5.40,-2.71), (6.72,-4.83), (7.62,-7.53), (8.25,-10.73), (8.81,-14.40), (9.36,-18.51), (9.95,-23.00), (10.56,-27.80)]\nOption C\n  waypoints xy: [(4.63,-0.01), (8.88,-0.02), (12.74,-0.05), (16.21,-0.12), (19.28,-0.30), (21.97,-0.71), (24.34,-1.45), (26.37,-2.59), (27.98,-4.14), (29.16,-6.02)]\nOption D\n  waypoints xy: [(2.00,-0.50), (4.11,-1.37), (6.34,-2.55), (8.72,-3.97), (11.24,-5.57), (13.89,-7.32), (16.68,-9.20), (19.59,-11.16), (22.59,-13.19), (25.64,-15.25)]\nOption E\n  waypoints xy: [(0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.01,-0.00), (0.06,-0.00), (0.16,-0.01), (0.29,-0.01)]\nOption F\n  waypoints xy: [(-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":11.075960725168903,"cv_gap":28.485}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-109/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-109/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-109/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.368 m/s at x-direction and -0.032 m/s at y-direction. The ego vehicle's current acceleration is -0.442 m/s^2 at x-direction and 0.008 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-109"}},"extra_info":{"index":428,"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-109","id":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-109","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.54,0.00), (1.37,0.03), (2.45,0.17), (3.72,0.54), (5.07,1.27), (6.35,2.48), (7.40,4.19), (8.07,6.34), (8.40,8.86), (8.58,11.67)]\nOption B\n  waypoints xy: [(6.33,0.00), (12.66,0.02), (19.01,0.04), (25.37,0.07), (31.74,0.11), (38.12,0.15), (44.49,0.21), (50.86,0.29), (57.21,0.39), (63.54,0.50)]\nOption C\n  waypoints xy: [(4.07,-0.02), (8.21,-0.05), (12.41,-0.09), (16.65,-0.13), (20.88,-0.17), (25.08,-0.19), (29.24,-0.19), (33.35,-0.17), (37.42,-0.14), (41.43,-0.09)]\nOption D\n  waypoints xy: [(4.03,-0.03), (7.25,-0.08), (9.87,-0.13), (11.88,-0.17), (13.28,-0.19), (14.02,-0.21), (14.32,-0.21), (14.34,-0.21), (14.35,-0.20), (14.35,-0.20)]\nOption E\n  waypoints xy: [(6.11,-0.03), (12.24,-0.08), (18.41,-0.16), (24.61,-0.27), (30.83,-0.43), (37.06,-0.64), (43.26,-0.90), (49.40,-1.20), (55.46,-1.53), (61.44,-1.90)]\nOption F\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.368251211163958,"cv_gap":27.957}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"btVyNIajJB","cam_id":"4_resize","sample_timestamps":["000000001571_000700000000","000000001572_000200000000","000000001572_000700000000","000000001573_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001573_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"btVyNIajJB","cam_id":"2","sample_timestamps":["000000001571_000700000000","000000001572_000200000000","000000001572_000700000000","000000001573_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001573_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"btVyNIajJB","cam_id":"7","sample_timestamps":["000000001571_000700000000","000000001572_000200000000","000000001572_000700000000","000000001573_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001573_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"btVyNIajJB"}},"extra_info":{"index":429,"token":"btVyNIajJB","id":"btVyNIajJB","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.54,0.01), (0.86,0.01), (1.01,0.01), (1.04,0.01), (1.05,0.01), (1.05,0.01), (1.05,0.02), (1.06,0.02), (1.07,0.02), (1.10,0.02)]\nOption B\n  waypoints xy: [(4.19,-0.00), (8.54,-0.00), (13.04,-0.00), (17.66,-0.06), (22.40,-0.11), (27.27,-0.16), (32.25,-0.27), (37.32,-0.38), (42.49,-0.44), (47.73,-0.55)]\nOption C\n  waypoints xy: [(3.83,-0.02), (7.52,-0.05), (11.05,-0.11), (14.34,-0.18), (17.33,-0.27), (19.97,-0.35), (22.24,-0.44), (24.13,-0.52), (25.66,-0.60), (26.91,-0.68)]\nOption D\n  waypoints xy: [(0.97,-0.00), (1.96,-0.01), (2.96,-0.01), (3.97,-0.02), (4.99,-0.04), (6.02,-0.05), (7.05,-0.06), (8.07,-0.08), (9.09,-0.10), (10.10,-0.12)]\nOption E\n  waypoints xy: [(3.08,0.01), (6.16,0.03), (9.25,0.08), (12.34,0.17), (15.44,0.29), (18.53,0.46), (21.58,0.66), (24.58,0.87), (27.52,1.08), (30.37,1.27)]\nOption F\n  waypoints xy: [(10.77,-0.06), (21.24,-0.20), (31.44,-0.44), (41.46,-0.77), (51.34,-1.19), (61.08,-1.63), (70.66,-2.06), (80.08,-2.50), (89.32,-2.93), (98.43,-3.31)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.0,"cv_gap":8.832}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-022/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-022/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/0e705b208e3a6c0f0be042f89fc071d9-022/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.615 m/s at x-direction and -0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.437 m/s^2 at x-direction and 0.011 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-022"}},"extra_info":{"index":430,"token":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-022","id":"waymo_e2e::0e705b208e3a6c0f0be042f89fc071d9-022","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.55,0.06), (17.09,0.22), (25.60,0.47), (34.10,0.79), (42.57,1.18), (51.03,1.62), (59.51,2.10), (68.01,2.60), (76.51,3.14), (85.01,3.70)]\nOption B\n  waypoints xy: [(1.70,-0.14), (3.48,-0.52), (5.24,-1.21), (6.88,-2.29), (8.28,-3.76), (9.36,-5.58), (10.11,-7.71), (10.56,-10.11), (10.80,-12.72), (10.93,-15.51)]\nOption C\n  waypoints xy: [(4.76,0.00), (9.55,0.01), (14.35,0.02), (19.17,0.02), (23.99,0.02), (28.82,0.02), (33.65,0.02), (38.47,0.03), (43.27,0.04), (48.05,0.04)]\nOption D\n  waypoints xy: [(4.26,0.00), (8.11,0.01), (11.44,0.02), (14.19,0.03), (16.28,0.03), (17.66,0.03), (18.41,0.04), (18.73,0.04), (18.85,0.04), (18.95,0.04)]\nOption E\n  waypoints xy: [(1.58,0.24), (3.16,0.74), (4.71,1.47), (6.25,2.44), (7.77,3.60), (9.27,4.92), (10.73,6.39), (12.18,7.99), (13.62,9.71), (15.04,11.55)]\nOption F\n  waypoints xy: [(8.43,-0.06), (16.90,-0.23), (25.41,-0.52), (33.94,-0.93), (42.49,-1.44), (51.01,-2.04), (59.49,-2.71), (67.93,-3.46), (76.33,-4.27), (84.66,-5.14)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.615392415520903,"cv_gap":29.691}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/6dc9d9519644766bea21dc5549437466-183/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6dc9d9519644766bea21dc5549437466-183/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/6dc9d9519644766bea21dc5549437466-183/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.726 m/s at x-direction and -0.005 m/s at y-direction. The ego vehicle's current acceleration is -0.421 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::6dc9d9519644766bea21dc5549437466-183"}},"extra_info":{"index":431,"token":"waymo_e2e::6dc9d9519644766bea21dc5549437466-183","id":"waymo_e2e::6dc9d9519644766bea21dc5549437466-183","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(11.94,-0.01), (23.88,-0.03), (35.82,-0.05), (47.76,-0.07), (59.67,-0.10), (71.53,-0.12), (83.35,-0.16), (95.15,-0.21), (106.93,-0.26), (118.69,-0.32)]\nOption B\n  waypoints xy: [(2.40,-0.00), (4.81,-0.01), (7.21,-0.01), (9.60,-0.01), (11.97,-0.02), (14.32,-0.03), (16.65,-0.04), (18.97,-0.05), (21.28,-0.07), (23.58,-0.09)]\nOption C\n  waypoints xy: [(1.77,0.01), (2.95,0.01), (3.48,0.01), (3.59,0.01), (3.58,0.01), (3.57,0.01), (3.57,0.01), (3.63,0.01), (3.93,0.01), (4.57,0.02)]\nOption D\n  waypoints xy: [(3.99,0.08), (8.00,0.29), (12.03,0.67), (16.04,1.23), (19.98,1.97), (23.82,2.89), (27.54,3.97), (31.11,5.20), (34.55,6.54), (37.86,7.94)]\nOption E\n  waypoints xy: [(3.98,0.01), (8.11,0.02), (12.37,0.04), (16.77,0.07), (21.30,0.09), (25.94,0.12), (30.69,0.15), (35.51,0.18), (40.39,0.22), (45.32,0.24)]\nOption F\n  waypoints xy: [(8.55,-0.04), (17.10,-0.11), (25.63,-0.17), (34.03,-0.09), (42.23,0.14), (50.17,0.50), (57.82,0.93), (65.18,1.40), (72.25,1.87), (79.05,2.34)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.725903575468062,"cv_gap":18.831}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/4259b098211c82350826ffa4ef42dba8-148/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/4259b098211c82350826ffa4ef42dba8-148/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/4259b098211c82350826ffa4ef42dba8-148/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.828 m/s at x-direction and -0.023 m/s at y-direction. The ego vehicle's current acceleration is -0.156 m/s^2 at x-direction and 0.029 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::4259b098211c82350826ffa4ef42dba8-148"}},"extra_info":{"index":432,"token":"waymo_e2e::4259b098211c82350826ffa4ef42dba8-148","id":"waymo_e2e::4259b098211c82350826ffa4ef42dba8-148","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.76,-0.01), (9.25,-0.03), (13.35,-0.05), (16.97,-0.07), (20.02,-0.09), (22.48,-0.11), (24.34,-0.13), (25.53,-0.14), (26.15,-0.15), (26.44,-0.15)]\nOption B\n  waypoints xy: [(0.00,-0.00), (0.04,-0.00), (0.07,-0.01), (0.06,-0.01), (0.06,-0.01), (0.06,-0.01), (0.06,-0.01), (0.06,-0.01), (0.06,-0.01), (0.06,-0.01)]\nOption C\n  waypoints xy: [(5.32,-0.01), (10.70,-0.01), (16.11,-0.01), (21.56,-0.02), (27.03,-0.03), (32.50,-0.04), (37.97,-0.06), (43.43,-0.07), (48.90,-0.08), (54.37,-0.08)]\nOption D\n  waypoints xy: [(1.84,0.39), (3.77,1.17), (5.70,2.42), (7.53,4.14), (9.26,6.26), (10.94,8.66), (12.52,11.34), (14.03,14.20), (15.46,17.21), (16.84,20.37)]\nOption E\n  waypoints xy: [(2.19,0.12), (4.45,0.52), (6.75,1.23), (9.02,2.33), (11.27,3.72), (13.39,5.51), (15.52,7.51), (17.62,9.71), (19.69,12.10), (21.80,14.69)]\nOption F\n  waypoints xy: [(12.24,0.11), (24.46,0.43), (36.78,0.92), (49.19,1.60), (61.67,2.48), (74.22,3.54), (86.82,4.79), (99.48,6.27), (112.20,7.97), (124.98,9.89)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.828512086421188,"cv_gap":28.62}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-132/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-132/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-132/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 11.791 m/s at x-direction and -0.036 m/s at y-direction. The ego vehicle's current acceleration is -0.454 m/s^2 at x-direction and 0.112 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-132"}},"extra_info":{"index":433,"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-132","id":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-132","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.99,0.00), (2.45,0.01), (4.42,0.03), (6.86,0.04), (9.77,0.07), (13.10,0.10), (16.82,0.15), (20.89,0.20), (25.28,0.26), (29.92,0.33)]\nOption B\n  waypoints xy: [(3.09,-0.17), (6.27,-0.55), (9.47,-1.14), (12.63,-1.91), (15.71,-2.82), (18.64,-3.83), (21.41,-4.90), (24.02,-6.01), (26.47,-7.15), (28.75,-8.31)]\nOption C\n  waypoints xy: [(0.44,0.00), (0.66,0.00), (0.67,0.00), (0.64,0.00), (0.55,0.00), (0.45,0.00), (0.34,0.00), (0.32,0.00), (0.31,0.00), (0.29,0.00)]\nOption D\n  waypoints xy: [(5.64,0.14), (10.79,0.51), (15.38,1.05), (19.35,1.68), (22.64,2.32), (25.22,2.88), (27.14,3.29), (28.45,3.56), (29.25,3.71), (29.68,3.77)]\nOption E\n  waypoints xy: [(0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.02,-0.00), (0.15,0.00), (0.39,0.00), (0.69,0.00), (1.17,0.01)]\nOption F\n  waypoints xy: [(5.92,-0.01), (11.87,-0.01), (17.82,-0.04), (23.80,-0.07), (29.76,-0.10), (35.70,-0.13), (41.58,-0.17), (47.39,-0.21), (53.08,-0.24), (58.62,-0.26)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":11.791518763490473,"cv_gap":28.513}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"IHMkrEGAjL","cam_id":"4_resize","sample_timestamps":["000000001511_000300000000","000000001511_000800000000","000000001512_000300000000","000000001512_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001512_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"IHMkrEGAjL","cam_id":"2","sample_timestamps":["000000001511_000300000000","000000001511_000800000000","000000001512_000300000000","000000001512_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001512_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"IHMkrEGAjL","cam_id":"7","sample_timestamps":["000000001511_000300000000","000000001511_000800000000","000000001512_000300000000","000000001512_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001512_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 6.400 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.500 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"IHMkrEGAjL"}},"extra_info":{"index":434,"token":"IHMkrEGAjL","id":"IHMkrEGAjL","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.47,-0.00), (9.03,0.00), (13.85,0.02), (18.97,0.04), (24.36,0.07), (29.93,0.14), (35.66,0.29), (41.57,0.57), (47.63,1.01), (53.78,1.59)]\nOption B\n  waypoints xy: [(7.17,-0.01), (14.26,-0.04), (21.28,-0.10), (28.17,-0.17), (34.94,-0.25), (41.63,-0.33), (48.32,-0.40), (55.01,-0.47), (61.67,-0.53), (68.29,-0.58)]\nOption C\n  waypoints xy: [(3.29,-0.00), (6.59,-0.01), (9.88,-0.00), (13.13,0.01), (16.31,0.05), (19.43,0.09), (22.55,0.14), (25.65,0.21), (28.72,0.29), (31.78,0.38)]\nOption D\n  waypoints xy: [(4.25,-0.00), (8.44,-0.01), (12.55,-0.01), (16.56,-0.02), (20.49,-0.01), (24.33,-0.01), (28.10,-0.00), (31.81,0.01), (35.45,0.02), (39.01,0.03)]\nOption E\n  waypoints xy: [(10.17,0.07), (20.35,0.24), (30.53,0.52), (40.73,0.90), (50.93,1.37), (61.11,1.91), (71.26,2.54), (81.39,3.25), (91.52,4.04), (101.68,4.91)]\nOption F\n  waypoints xy: [(2.11,0.01), (3.80,0.04), (4.97,0.06), (5.59,0.08), (5.82,0.09), (5.92,0.09), (6.09,0.10), (6.57,0.11), (7.54,0.15), (9.01,0.23)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.400781202322104,"cv_gap":22.925}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"7qgqy50c1u","cam_id":"4_resize","sample_timestamps":["000000001814_000300000000","000000001814_000800000000","000000001815_000300000000","000000001815_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001815_000850000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7qgqy50c1u","cam_id":"2","sample_timestamps":["000000001814_000300000000","000000001814_000800000000","000000001815_000300000000","000000001815_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001815_000850000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"7qgqy50c1u","cam_id":"7","sample_timestamps":["000000001814_000300000000","000000001814_000800000000","000000001815_000300000000","000000001815_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001815_000850000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.900 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"7qgqy50c1u"}},"extra_info":{"index":435,"token":"7qgqy50c1u","id":"7qgqy50c1u","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.17,0.00), (16.19,0.01), (24.06,0.03), (31.73,0.05), (39.17,0.09), (46.36,0.14), (53.29,0.21), (59.95,0.29), (66.34,0.40), (72.44,0.51)]\nOption B\n  waypoints xy: [(2.83,-0.04), (5.76,-0.13), (8.74,-0.25), (11.75,-0.40), (14.78,-0.57), (17.80,-0.76), (20.82,-0.96), (23.85,-1.18), (26.89,-1.40), (29.93,-1.60)]\nOption C\n  waypoints xy: [(7.66,0.03), (15.28,0.13), (22.88,0.31), (30.43,0.55), (37.95,0.86), (45.43,1.21), (52.86,1.58), (60.23,1.96), (67.55,2.33), (74.79,2.68)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(2.28,0.05), (4.37,0.15), (6.21,0.28), (7.81,0.44), (9.18,0.64), (10.27,0.82), (11.08,1.00), (11.71,1.14), (12.18,1.25), (12.52,1.34)]\nOption F\n  waypoints xy: [(5.65,-0.00), (11.04,-0.01), (16.09,-0.01), (20.74,-0.02), (24.94,-0.02), (28.68,-0.03), (31.96,-0.04), (34.82,-0.06), (37.26,-0.08), (39.33,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.907622195096772,"cv_gap":17.83}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"edrVBCzl79","cam_id":"4_resize","sample_timestamps":["000000000336_000000000000","000000000336_000500000000","000000000337_000000000000","000000000337_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000337_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"edrVBCzl79","cam_id":"2","sample_timestamps":["000000000336_000000000000","000000000336_000500000000","000000000337_000000000000","000000000337_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000337_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"edrVBCzl79","cam_id":"7","sample_timestamps":["000000000336_000000000000","000000000336_000500000000","000000000337_000000000000","000000000337_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000337_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn right with a constant speed**. The ego vehicle's current velocity is 2.200 m/s at x-direction and 0.800 m/s at y-direction. The ego vehicle's current acceleration is 0.900 m/s^2 at x-direction and -0.800 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"edrVBCzl79"}},"extra_info":{"index":436,"token":"edrVBCzl79","id":"edrVBCzl79","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.24,-0.02), (12.50,-0.09), (18.77,-0.24), (25.04,-0.44), (31.32,-0.71), (37.59,-1.02), (43.86,-1.36), (50.11,-1.72), (56.37,-2.09), (62.62,-2.44)]\nOption B\n  waypoints xy: [(1.28,-0.21), (2.51,-0.68), (3.62,-1.38), (4.61,-2.28), (5.48,-3.33), (6.22,-4.48), (6.87,-5.70), (7.44,-6.96), (7.92,-8.26), (8.32,-9.59)]\nOption C\n  waypoints xy: [(1.47,0.32), (2.92,0.89), (4.25,1.73), (5.34,2.74), (6.14,3.80), (6.75,4.89), (7.21,5.98), (7.62,7.08), (8.01,8.25), (8.38,9.54)]\nOption D\n  waypoints xy: [(3.49,-0.06), (7.14,-0.19), (10.95,-0.42), (14.90,-0.74), (18.98,-1.13), (23.17,-1.59), (27.45,-2.09), (31.78,-2.63), (36.14,-3.20), (40.52,-3.81)]\nOption E\n  waypoints xy: [(1.06,0.09), (2.13,0.32), (3.23,0.63), (4.31,1.02), (5.37,1.44), (6.44,1.88), (7.51,2.34), (8.59,2.80), (9.67,3.26), (10.72,3.71)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.340939982143925,"cv_gap":13.602}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/9d775e3bcb97e1220262a9e07c66f737-073/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/9d775e3bcb97e1220262a9e07c66f737-073/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/9d775e3bcb97e1220262a9e07c66f737-073/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 3.848 m/s at x-direction and -0.004 m/s at y-direction. The ego vehicle's current acceleration is 0.099 m/s^2 at x-direction and -0.022 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::9d775e3bcb97e1220262a9e07c66f737-073"}},"extra_info":{"index":437,"token":"waymo_e2e::9d775e3bcb97e1220262a9e07c66f737-073","id":"waymo_e2e::9d775e3bcb97e1220262a9e07c66f737-073","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.82,-0.01), (3.69,-0.02), (5.61,-0.03), (7.58,-0.05), (9.56,-0.08), (11.53,-0.10), (13.46,-0.13), (15.35,-0.17), (17.20,-0.21), (19.00,-0.26)]\nOption B\n  waypoints xy: [(1.33,-0.37), (2.59,-1.02), (3.72,-1.93), (4.69,-3.09), (5.50,-4.50), (6.23,-6.14), (6.94,-8.01), (7.67,-10.07), (8.42,-12.31), (9.23,-14.71)]\nOption C\n  waypoints xy: [(1.59,-0.28), (3.00,-1.18), (4.13,-2.54), (5.05,-4.14), (5.72,-5.88), (6.32,-7.68), (6.86,-9.51), (7.33,-11.37), (7.73,-13.23), (8.09,-15.02)]\nOption D\n  waypoints xy: [(5.46,-0.01), (10.93,-0.03), (16.41,-0.04), (21.89,-0.06), (27.37,-0.08), (32.85,-0.10), (38.32,-0.11), (43.79,-0.13), (49.26,-0.14), (54.74,-0.16)]\nOption E\n  waypoints xy: [(1.76,0.04), (3.53,0.14), (5.30,0.29), (7.07,0.49), (8.83,0.75), (10.56,1.08), (12.24,1.47), (13.86,1.95), (15.41,2.51), (16.89,3.17)]\nOption F\n  waypoints xy: [(5.22,0.00), (10.58,0.02), (16.04,0.04), (21.62,0.07), (27.29,0.10), (33.04,0.13), (38.87,0.17), (44.76,0.20), (50.69,0.22), (56.67,0.24)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.8482864651604243,"cv_gap":5.396}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/4f66c35b23a3a33f89b2a653217e542e-092/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/4f66c35b23a3a33f89b2a653217e542e-092/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/4f66c35b23a3a33f89b2a653217e542e-092/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.860 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.616 m/s^2 at x-direction and 0.019 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::4f66c35b23a3a33f89b2a653217e542e-092"}},"extra_info":{"index":438,"token":"waymo_e2e::4f66c35b23a3a33f89b2a653217e542e-092","id":"waymo_e2e::4f66c35b23a3a33f89b2a653217e542e-092","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.98,-0.02), (5.47,-0.06), (7.38,-0.10), (8.63,-0.13), (9.28,-0.14), (9.48,-0.15), (9.49,-0.15), (9.51,-0.15), (9.58,-0.15), (9.81,-0.17)]\nOption B\n  waypoints xy: [(4.28,0.23), (8.80,0.69), (13.63,1.29), (18.76,2.01), (24.15,2.82), (29.78,3.70), (35.60,4.62), (41.58,5.58), (47.71,6.60), (53.96,7.69)]\nOption C\n  waypoints xy: [(4.70,0.02), (9.46,0.07), (14.26,0.14), (19.08,0.21), (23.93,0.29), (28.79,0.36), (33.66,0.43), (38.50,0.50), (43.28,0.57), (48.04,0.63)]\nOption D\n  waypoints xy: [(5.35,-0.02), (10.74,-0.07), (16.16,-0.14), (21.59,-0.23), (27.03,-0.33), (32.44,-0.44), (37.82,-0.55), (43.17,-0.65), (48.47,-0.74), (53.73,-0.82)]\nOption E\n  waypoints xy: [(12.14,-0.07), (24.29,-0.27), (36.45,-0.59), (48.62,-1.04), (60.77,-1.61), (72.90,-2.28), (85.00,-3.07), (97.08,-3.95), (109.14,-4.94), (121.19,-6.03)]\nOption F\n  waypoints xy: [(3.41,-0.01), (6.82,-0.01), (10.22,-0.00), (13.62,0.01), (17.06,0.03), (20.53,0.05), (24.04,0.05), (27.59,0.04), (31.16,0.03), (34.71,0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.860183168505471,"cv_gap":25.036}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/b1401c1371c532f96fe11678e636efa1-053/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/b1401c1371c532f96fe11678e636efa1-053/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/b1401c1371c532f96fe11678e636efa1-053/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 8.854 m/s at x-direction and -0.044 m/s at y-direction. The ego vehicle's current acceleration is -0.455 m/s^2 at x-direction and -0.016 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::b1401c1371c532f96fe11678e636efa1-053"}},"extra_info":{"index":439,"token":"waymo_e2e::b1401c1371c532f96fe11678e636efa1-053","id":"waymo_e2e::b1401c1371c532f96fe11678e636efa1-053","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.62,-0.01), (11.21,-0.03), (16.78,-0.08), (22.34,-0.12), (27.89,-0.15), (33.41,-0.15), (38.91,-0.14), (44.40,-0.11), (49.89,-0.07), (55.35,-0.03)]\nOption B\n  waypoints xy: [(0.91,-0.42), (1.53,-0.87), (2.02,-1.37), (2.47,-2.01), (2.91,-2.87), (3.37,-3.97), (3.82,-5.30), (4.25,-6.89), (4.76,-8.70), (5.36,-10.69)]\nOption C\n  waypoints xy: [(3.63,-0.01), (6.78,-0.04), (9.30,-0.06), (11.06,-0.09), (12.07,-0.11), (12.49,-0.12), (12.59,-0.12), (12.61,-0.12), (12.67,-0.12), (12.86,-0.12)]\nOption D\n  waypoints xy: [(4.40,-0.00), (8.83,-0.01), (13.27,-0.01), (17.71,-0.01), (22.16,-0.02), (26.61,-0.03), (31.05,-0.05), (35.48,-0.08), (39.88,-0.10), (44.25,-0.12)]\nOption E\n  waypoints xy: [(6.13,-0.13), (12.30,-0.45), (18.48,-1.01), (24.66,-1.79), (30.82,-2.79), (36.94,-3.98), (42.99,-5.34), (48.98,-6.83), (54.89,-8.41), (60.70,-10.07)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.854567744443704,"cv_gap":30.962}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/c26a139638d9c0d24c072b0bef728870-221/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c26a139638d9c0d24c072b0bef728870-221/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c26a139638d9c0d24c072b0bef728870-221/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.946 m/s at x-direction and -0.011 m/s at y-direction. The ego vehicle's current acceleration is -0.651 m/s^2 at x-direction and -0.047 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c26a139638d9c0d24c072b0bef728870-221"}},"extra_info":{"index":440,"token":"waymo_e2e::c26a139638d9c0d24c072b0bef728870-221","id":"waymo_e2e::c26a139638d9c0d24c072b0bef728870-221","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.81,-0.01), (13.54,-0.05), (20.16,-0.12), (26.64,-0.21), (32.96,-0.35), (39.11,-0.51), (45.11,-0.68), (50.95,-0.88), (56.66,-1.07), (62.27,-1.26)]\nOption B\n  waypoints xy: [(2.99,-0.01), (5.99,-0.02), (9.00,-0.03), (12.03,-0.05), (15.04,-0.07), (18.01,-0.09), (20.97,-0.12), (23.93,-0.16), (26.88,-0.20), (29.80,-0.23)]\nOption C\n  waypoints xy: [(7.52,-0.08), (15.17,-0.17), (23.02,-0.25), (31.06,-0.26), (39.25,-0.26), (47.50,-0.26), (55.79,-0.26), (64.13,-0.26), (72.47,-0.26), (80.84,-0.26)]\nOption D\n  waypoints xy: [(3.63,-0.18), (7.53,-0.50), (11.66,-0.92), (15.96,-1.38), (20.36,-1.88), (24.84,-2.41), (29.36,-2.98), (33.88,-3.57), (38.40,-4.18), (42.90,-4.83)]\nOption E\n  waypoints xy: [(2.66,-0.01), (4.71,-0.03), (6.06,-0.05), (6.74,-0.06), (6.94,-0.07), (6.95,-0.07), (6.95,-0.07), (6.95,-0.06), (7.01,-0.06), (7.18,-0.07)]\nOption F\n  waypoints xy: [(7.37,-0.01), (14.70,-0.01), (21.99,-0.02), (29.23,-0.02), (36.45,-0.02), (43.63,-0.01), (50.76,-0.00), (57.86,0.01), (64.91,0.01), (71.90,0.01)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.9457842405631,"cv_gap":22.567}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"JOGX0aZ0hS","cam_id":"4_resize","sample_timestamps":["000000000266_000500000000","000000000267_000000000000","000000000267_000500000000","000000000268_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000268_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JOGX0aZ0hS","cam_id":"2","sample_timestamps":["000000000266_000500000000","000000000267_000000000000","000000000267_000500000000","000000000268_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000268_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JOGX0aZ0hS","cam_id":"7","sample_timestamps":["000000000266_000500000000","000000000267_000000000000","000000000267_000500000000","000000000268_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000268_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with a constant speed**. The ego vehicle's current velocity is 2.600 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.500 m/s^2 at x-direction and 0.800 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"JOGX0aZ0hS"}},"extra_info":{"index":441,"token":"JOGX0aZ0hS","id":"JOGX0aZ0hS","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.80,-0.00), (7.62,-0.01), (11.45,-0.02), (15.28,-0.03), (19.10,-0.04), (22.88,-0.05), (26.59,-0.07), (30.24,-0.09), (33.80,-0.11), (37.27,-0.14)]\nOption B\n  waypoints xy: [(1.20,-0.04), (2.45,-0.12), (3.71,-0.23), (4.99,-0.37), (6.27,-0.54), (7.56,-0.73), (8.90,-0.96), (10.31,-1.21), (11.75,-1.50), (13.22,-1.82)]\nOption C\n  waypoints xy: [(6.96,0.03), (13.81,0.12), (20.55,0.29), (27.13,0.54), (33.54,0.88), (39.75,1.26), (45.71,1.64), (51.38,2.00), (56.75,2.32), (61.79,2.59)]\nOption D\n  waypoints xy: [(6.43,0.02), (12.84,0.09), (19.19,0.19), (25.46,0.33), (31.63,0.52), (37.67,0.72), (43.54,0.96), (49.23,1.22), (54.71,1.48), (59.98,1.75)]\nOption E\n  waypoints xy: [(5.08,-0.01), (10.12,-0.02), (15.10,-0.05), (20.02,-0.08), (24.89,-0.12), (29.72,-0.17), (34.53,-0.21), (39.36,-0.24), (44.22,-0.26), (49.10,-0.26)]\nOption F\n  waypoints xy: [(1.17,0.27), (2.35,0.60), (3.58,0.86), (4.33,0.96), (4.56,0.97), (4.67,0.96), (4.75,0.96), (4.75,0.96), (4.75,0.95), (4.75,0.95)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.6172504656604803,"cv_gap":8.459}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/2154e6dd04c45ea04ecf9e166860c704-125/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2154e6dd04c45ea04ecf9e166860c704-125/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2154e6dd04c45ea04ecf9e166860c704-125/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.044 m/s at x-direction and 0.007 m/s at y-direction. The ego vehicle's current acceleration is -0.241 m/s^2 at x-direction and -0.016 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2154e6dd04c45ea04ecf9e166860c704-125"}},"extra_info":{"index":442,"token":"waymo_e2e::2154e6dd04c45ea04ecf9e166860c704-125","id":"waymo_e2e::2154e6dd04c45ea04ecf9e166860c704-125","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.25,0.11), (8.56,0.38), (12.92,0.82), (17.29,1.42), (21.61,2.21), (25.84,3.17), (29.96,4.30), (33.95,5.59), (37.81,7.01), (41.50,8.54)]\nOption B\n  waypoints xy: [(6.84,-0.01), (13.62,-0.02), (20.38,-0.03), (27.12,-0.03), (33.83,-0.03), (40.50,-0.03), (47.10,-0.03), (53.65,-0.02), (60.15,-0.01), (66.59,0.00)]\nOption C\n  waypoints xy: [(1.31,0.00), (2.39,-0.00), (3.21,0.00), (3.75,0.00), (4.04,0.01), (4.15,0.01), (4.19,0.01), (4.21,0.01), (4.24,0.01), (4.31,0.00)]\nOption D\n  waypoints xy: [(1.53,-0.01), (3.06,-0.01), (4.59,-0.01), (6.17,-0.01), (7.74,-0.01), (9.26,-0.00), (10.74,0.01), (12.20,0.01), (13.65,0.02), (15.14,0.04)]\nOption E\n  waypoints xy: [(4.01,-0.02), (8.11,-0.06), (12.28,-0.12), (16.53,-0.21), (20.82,-0.36), (25.15,-0.55), (29.47,-0.79), (33.80,-1.06), (38.11,-1.37), (42.38,-1.69)]\nOption F\n  waypoints xy: [(5.23,-0.00), (10.48,-0.01), (15.74,-0.00), (21.02,-0.00), (26.30,0.00), (31.58,0.01), (36.85,0.01), (42.12,0.01), (47.36,0.02), (52.59,0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.043618787317776,"cv_gap":10.935}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"IDe8eSBMtw","cam_id":"4_resize","sample_timestamps":["000000006281_000500000000","000000006282_000000000000","000000006282_000500000000","000000006283_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006283_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"IDe8eSBMtw","cam_id":"2","sample_timestamps":["000000006281_000500000000","000000006282_000000000000","000000006282_000500000000","000000006283_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006283_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"IDe8eSBMtw","cam_id":"7","sample_timestamps":["000000006281_000500000000","000000006282_000000000000","000000006282_000500000000","000000006283_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006283_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.500 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.200 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"IDe8eSBMtw"}},"extra_info":{"index":443,"token":"IDe8eSBMtw","id":"IDe8eSBMtw","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.67,-0.00), (3.38,-0.00), (5.13,-0.00), (6.91,-0.01), (8.69,-0.01), (10.48,-0.03), (12.27,-0.05), (14.04,-0.09), (15.80,-0.13), (17.53,-0.19)]\nOption B\n  waypoints xy: [(4.10,-0.01), (8.33,-0.02), (12.65,-0.03), (17.10,-0.04), (21.69,-0.03), (26.40,-0.00), (31.23,0.05), (36.14,0.11), (41.13,0.18), (46.16,0.25)]\nOption C\n  waypoints xy: [(5.30,0.03), (10.60,0.14), (15.85,0.32), (21.05,0.54), (26.14,0.78), (31.06,1.02), (35.74,1.23), (40.19,1.41), (44.41,1.56), (48.40,1.69)]\nOption D\n  waypoints xy: [(3.53,0.01), (7.14,0.05), (10.82,0.10), (14.58,0.20), (18.43,0.32), (22.37,0.48), (26.37,0.66), (30.42,0.85), (34.53,1.05), (38.71,1.25)]\nOption E\n  waypoints xy: [(5.32,-0.08), (10.66,-0.27), (16.02,-0.57), (21.42,-0.95), (26.89,-1.41), (32.42,-1.98), (38.04,-2.70), (43.72,-3.58), (49.47,-4.57), (55.28,-5.62)]\nOption F\n  waypoints xy: [(1.19,-0.00), (2.27,-0.01), (3.23,-0.02), (4.03,-0.03), (4.69,-0.03), (5.20,-0.04), (5.61,-0.04), (5.94,-0.03), (6.25,-0.03), (6.58,-0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.5,"cv_gap":10.626}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"6vkiRmQuaX","cam_id":"4_resize","sample_timestamps":["000000005348_000500000000","000000005349_000000000000","000000005349_000500000000","000000005350_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000005350_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"6vkiRmQuaX","cam_id":"2","sample_timestamps":["000000005348_000500000000","000000005349_000000000000","000000005349_000500000000","000000005350_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000005350_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"6vkiRmQuaX","cam_id":"7","sample_timestamps":["000000005348_000500000000","000000005349_000000000000","000000005349_000500000000","000000005350_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000005350_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with a constant speed**. The ego vehicle's current velocity is 2.500 m/s at x-direction and 0.300 m/s at y-direction. The ego vehicle's current acceleration is 0.200 m/s^2 at x-direction and -0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"6vkiRmQuaX"}},"extra_info":{"index":444,"token":"6vkiRmQuaX","id":"6vkiRmQuaX","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.20,-0.10), (2.37,-0.30), (3.52,-0.58), (4.64,-0.92), (5.72,-1.32), (6.79,-1.76), (7.82,-2.24), (8.83,-2.75), (9.81,-3.28), (10.77,-3.82)]\nOption B\n  waypoints xy: [(1.26,0.03), (2.48,0.12), (3.64,0.25), (4.81,0.41), (6.01,0.59), (7.26,0.80), (8.55,1.01), (9.90,1.21), (11.31,1.41), (12.78,1.63)]\nOption C\n  waypoints xy: [(3.68,0.06), (7.57,0.19), (11.71,0.35), (16.09,0.51), (20.70,0.68), (25.50,0.85), (30.43,0.99), (35.48,1.09), (40.65,1.13), (45.89,1.10)]\nOption D\n  waypoints xy: [(5.63,-0.02), (11.31,-0.04), (17.01,-0.06), (22.72,-0.08), (28.44,-0.10), (34.16,-0.10), (39.89,-0.10), (45.61,-0.10), (51.32,-0.07), (57.03,-0.04)]\nOption E\n  waypoints xy: [(4.46,-0.00), (8.82,-0.00), (13.08,-0.00), (17.22,-0.01), (21.24,-0.00), (25.13,0.00), (28.86,0.01), (32.43,0.02), (35.82,0.04), (39.04,0.05)]\nOption F\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.5179356624028344,"cv_gap":5.391}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-058/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-058/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/7cf744f7d61876a19fab07541680e9c4-058/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.673 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.888 m/s^2 at x-direction and -0.037 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-058"}},"extra_info":{"index":445,"token":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-058","id":"waymo_e2e::7cf744f7d61876a19fab07541680e9c4-058","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.86,-0.01), (7.73,-0.01), (11.62,-0.02), (15.50,-0.03), (19.36,-0.03), (23.17,-0.03), (26.96,-0.03), (30.72,-0.03), (34.48,-0.03), (38.23,-0.03)]\nOption B\n  waypoints xy: [(5.53,0.06), (10.73,0.06), (15.63,0.07), (20.11,0.07), (24.06,0.07), (27.39,0.08), (30.07,0.08), (32.17,0.05), (33.80,0.07), (35.08,0.08)]\nOption C\n  waypoints xy: [(6.54,-0.03), (14.14,-0.10), (22.14,-0.18), (30.14,-0.23), (37.98,-0.26), (45.64,-0.29), (53.14,-0.32), (60.52,-0.36), (67.84,-0.44), (75.06,-0.54)]\nOption D\n  waypoints xy: [(2.76,-0.02), (5.08,-0.04), (6.88,-0.07), (8.12,-0.09), (8.82,-0.10), (9.11,-0.11), (9.15,-0.11), (9.17,-0.11), (9.20,-0.11), (9.29,-0.12)]\nOption E\n  waypoints xy: [(6.92,0.06), (13.86,0.24), (20.82,0.51), (27.79,0.89), (34.77,1.34), (41.76,1.87), (48.75,2.48), (55.76,3.15), (62.77,3.88), (69.79,4.67)]\nOption F\n  waypoints xy: [(4.28,0.30), (8.71,0.90), (13.27,1.70), (17.95,2.59), (22.71,3.53), (27.55,4.51), (32.45,5.53), (37.40,6.56), (42.38,7.59), (47.39,8.62)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.672849207233801,"cv_gap":29.071}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"EC4QvmI88Z","cam_id":"4_resize","sample_timestamps":["000000000875_000100000000","000000000875_000600000000","000000000876_000100000000","000000000876_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000876_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"EC4QvmI88Z","cam_id":"2","sample_timestamps":["000000000875_000100000000","000000000875_000600000000","000000000876_000100000000","000000000876_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000876_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"EC4QvmI88Z","cam_id":"7","sample_timestamps":["000000000875_000100000000","000000000875_000600000000","000000000876_000100000000","000000000876_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000876_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with a constant speed**. The ego vehicle's current velocity is 2.300 m/s at x-direction and 0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and -0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"EC4QvmI88Z"}},"extra_info":{"index":446,"token":"EC4QvmI88Z","id":"EC4QvmI88Z","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.87,-0.01), (15.76,-0.05), (23.69,-0.09), (31.65,-0.16), (39.60,-0.23), (47.56,-0.30), (55.51,-0.38), (63.46,-0.46), (71.42,-0.54), (79.39,-0.61)]\nOption B\n  waypoints xy: [(1.16,-0.13), (2.31,-0.46), (3.44,-0.98), (4.52,-1.64), (5.54,-2.40), (6.51,-3.23), (7.44,-4.08), (8.33,-4.95), (9.18,-5.82), (9.98,-6.68)]\nOption C\n  waypoints xy: [(4.37,-0.00), (8.88,-0.00), (13.53,-0.01), (18.31,-0.02), (23.21,-0.04), (28.25,-0.07), (33.41,-0.10), (38.70,-0.14), (44.11,-0.19), (49.56,-0.24)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(1.60,0.54), (3.07,1.48), (4.40,2.67), (5.58,3.99), (6.67,5.31), (7.60,6.48), (8.33,7.43), (8.90,8.17), (9.34,8.75), (9.63,9.13)]\nOption F\n  waypoints xy: [(1.10,0.06), (2.26,0.19), (3.45,0.39), (4.64,0.60), (5.80,0.79), (6.94,0.97), (8.08,1.13), (9.19,1.29), (10.27,1.45), (11.33,1.59)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.3194827009486403,"cv_gap":8.59}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"L2DQXZzGKW","cam_id":"4_resize","sample_timestamps":["000000009283_000250000000","000000009283_000500000000","000000009283_000750000000","000000009284_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009284_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"L2DQXZzGKW","cam_id":"2","sample_timestamps":["000000009282_000500000000","000000009283_000000000000","000000009283_000500000000","000000009284_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009284_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"L2DQXZzGKW","cam_id":"7","sample_timestamps":["000000009282_000500000000","000000009283_000000000000","000000009283_000500000000","000000009284_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009284_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.700 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -2.200 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"L2DQXZzGKW"}},"extra_info":{"index":447,"token":"L2DQXZzGKW","id":"L2DQXZzGKW","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.92,-0.01), (15.88,-0.02), (23.87,-0.03), (31.88,-0.04), (39.92,-0.04), (47.98,-0.01), (56.04,0.04), (64.11,0.10), (72.18,0.17), (80.23,0.24)]\nOption B\n  waypoints xy: [(1.44,-0.00), (2.63,-0.00), (3.66,-0.01), (4.55,-0.01), (5.19,-0.01), (5.62,-0.01), (5.89,-0.01), (6.07,-0.02), (6.21,-0.02), (6.32,-0.02)]\nOption C\n  waypoints xy: [(8.29,-0.02), (16.53,-0.05), (24.71,-0.09), (32.79,-0.13), (40.78,-0.17), (48.68,-0.21), (56.47,-0.25), (64.16,-0.30), (71.77,-0.35), (79.31,-0.38)]\nOption D\n  waypoints xy: [(10.78,-0.00), (21.52,-0.01), (32.25,-0.02), (42.97,-0.03), (53.69,-0.05), (64.40,-0.06), (75.11,-0.08), (85.81,-0.10), (96.52,-0.14), (107.24,-0.17)]\nOption E\n  waypoints xy: [(2.25,0.00), (4.54,0.01), (6.85,0.02), (9.20,0.03), (11.57,0.04), (13.98,0.04), (16.41,0.05), (18.83,0.05), (21.18,0.06), (23.50,0.06)]\nOption F\n  waypoints xy: [(5.52,0.01), (11.08,0.04), (16.68,0.10), (22.35,0.18), (28.10,0.30), (33.92,0.43), (39.81,0.56), (45.79,0.69), (51.84,0.81), (57.97,0.92)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.7,"cv_gap":17.076}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"DtpdTKx7oB","cam_id":"4_resize","sample_timestamps":["000000020560_000100000000","000000020560_000600000000","000000020561_000100000000","000000020561_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000020561_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"DtpdTKx7oB","cam_id":"2","sample_timestamps":["000000020560_000100000000","000000020560_000600000000","000000020561_000100000000","000000020561_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000020561_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"DtpdTKx7oB","cam_id":"7","sample_timestamps":["000000020560_000100000000","000000020560_000600000000","000000020561_000100000000","000000020561_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000020561_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 11.700 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"DtpdTKx7oB"}},"extra_info":{"index":448,"token":"DtpdTKx7oB","id":"DtpdTKx7oB","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.83,0.00), (11.68,0.01), (17.54,0.02), (23.41,0.04), (29.26,0.06), (35.15,0.10), (41.04,0.15), (46.94,0.22), (52.85,0.31), (58.71,0.41)]\nOption B\n  waypoints xy: [(1.11,0.08), (2.57,0.32), (4.35,0.85), (6.34,1.82), (8.37,3.34), (10.24,5.45), (11.81,8.13), (12.99,11.28), (13.84,14.81), (14.42,18.63)]\nOption C\n  waypoints xy: [(-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00), (-0.00,-0.00)]\nOption D\n  waypoints xy: [(2.20,0.14), (4.44,0.52), (6.67,1.22), (8.83,2.31), (10.82,3.81), (12.58,5.72), (14.04,7.99), (15.20,10.58), (16.13,13.43), (16.89,16.47)]\nOption E\n  waypoints xy: [(6.50,-0.01), (12.93,-0.02), (19.26,-0.03), (25.49,-0.04), (31.59,-0.05), (37.56,-0.03), (43.41,-0.01), (49.13,0.03), (54.73,0.06), (60.22,0.10)]\nOption F\n  waypoints xy: [(4.33,-0.01), (8.15,-0.03), (11.38,-0.05), (14.01,-0.08), (16.10,-0.11), (17.76,-0.14), (19.14,-0.17), (20.51,-0.19), (21.98,-0.22), (23.57,-0.25)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":11.700427342623003,"cv_gap":32.611}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/c449ffdae97cba80dd23c73e3d68fe3e-059/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c449ffdae97cba80dd23c73e3d68fe3e-059/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/c449ffdae97cba80dd23c73e3d68fe3e-059/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.488 m/s at x-direction and -0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.280 m/s^2 at x-direction and 0.001 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c449ffdae97cba80dd23c73e3d68fe3e-059"}},"extra_info":{"index":449,"token":"waymo_e2e::c449ffdae97cba80dd23c73e3d68fe3e-059","id":"waymo_e2e::c449ffdae97cba80dd23c73e3d68fe3e-059","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.50,-0.01), (13.25,-0.04), (20.27,-0.09), (27.55,-0.16), (35.02,-0.25), (42.65,-0.34), (50.44,-0.41), (58.37,-0.48), (66.40,-0.56), (74.49,-0.64)]\nOption B\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption C\n  waypoints xy: [(5.76,0.05), (11.58,0.20), (17.44,0.45), (23.36,0.75), (29.32,1.07), (35.33,1.36), (41.38,1.60), (47.47,1.81), (53.59,1.97), (59.72,2.08)]\nOption D\n  waypoints xy: [(5.66,0.00), (11.33,0.01), (16.99,0.04), (22.60,0.07), (28.12,0.11), (33.54,0.15), (38.86,0.20), (44.11,0.25), (49.30,0.31), (54.44,0.39)]\nOption E\n  waypoints xy: [(2.29,-0.00), (4.51,-0.01), (6.68,-0.02), (8.84,-0.05), (11.03,-0.08), (13.28,-0.12), (15.58,-0.17), (17.90,-0.23), (20.23,-0.29), (22.54,-0.34)]\nOption F\n  waypoints xy: [(2.09,-0.01), (4.07,-0.02), (5.93,-0.03), (7.60,-0.03), (8.99,-0.03), (9.99,-0.03), (10.60,-0.03), (10.88,-0.04), (10.96,-0.04), (11.00,-0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.487675103816987,"cv_gap":11.587}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"6fvQrEWeW0","cam_id":"4_resize","sample_timestamps":["000000006012_000400000000","000000006012_000900000000","000000006013_000400000000","000000006013_000900000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006013_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"6fvQrEWeW0","cam_id":"2","sample_timestamps":["000000006012_000400000000","000000006012_000900000000","000000006013_000400000000","000000006013_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006013_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"6fvQrEWeW0","cam_id":"7","sample_timestamps":["000000006012_000400000000","000000006012_000900000000","000000006013_000400000000","000000006013_000900000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006013_000900000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 1.600 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"6fvQrEWeW0"}},"extra_info":{"index":450,"token":"6fvQrEWeW0","id":"6fvQrEWeW0","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.70,-0.00), (9.41,-0.02), (14.14,-0.03), (18.88,-0.05), (23.63,-0.08), (28.40,-0.12), (33.17,-0.18), (37.95,-0.26), (42.73,-0.35), (47.52,-0.45)]\nOption B\n  waypoints xy: [(0.83,-0.01), (1.69,-0.02), (2.56,-0.04), (3.39,-0.09), (4.14,-0.14), (4.84,-0.19), (5.57,-0.24), (6.39,-0.32), (7.26,-0.42), (8.17,-0.51)]\nOption C\n  waypoints xy: [(3.17,-0.01), (6.46,-0.03), (9.84,-0.06), (13.35,-0.11), (17.01,-0.16), (20.84,-0.23), (24.81,-0.32), (28.92,-0.42), (33.12,-0.54), (37.41,-0.67)]\nOption D\n  waypoints xy: [(4.16,-0.06), (8.31,-0.23), (12.46,-0.50), (16.61,-0.86), (20.79,-1.31), (24.95,-1.80), (28.98,-2.29), (32.82,-2.75), (36.43,-3.20), (39.82,-3.64)]\nOption E\n  waypoints xy: [(0.62,0.02), (1.18,0.07), (1.80,0.17), (2.49,0.32), (3.17,0.57), (3.78,0.85), (4.30,1.19), (4.74,1.61), (5.11,2.08), (5.41,2.55)]\nOption F\n  waypoints xy: [(7.85,-0.00), (15.67,0.00), (23.45,0.02), (31.19,0.05), (38.88,0.08), (46.53,0.12), (54.16,0.16), (61.75,0.20), (69.31,0.23), (76.83,0.27)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.6031219541881399,"cv_gap":4.234}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/ab9a9fa4f446da978045c1076c3f5f21-210/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ab9a9fa4f446da978045c1076c3f5f21-210/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/ab9a9fa4f446da978045c1076c3f5f21-210/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.542 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.286 m/s^2 at x-direction and 0.008 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::ab9a9fa4f446da978045c1076c3f5f21-210"}},"extra_info":{"index":451,"token":"waymo_e2e::ab9a9fa4f446da978045c1076c3f5f21-210","id":"waymo_e2e::ab9a9fa4f446da978045c1076c3f5f21-210","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.03,0.00), (8.48,-0.00), (13.26,-0.01), (18.32,-0.04), (23.60,-0.08), (29.01,-0.14), (34.48,-0.22), (40.05,-0.30), (45.70,-0.39), (51.42,-0.47)]\nOption B\n  waypoints xy: [(2.44,0.01), (4.82,0.02), (7.13,0.03), (9.37,0.04), (11.58,0.06), (13.77,0.08), (15.98,0.09), (18.20,0.11), (20.41,0.12), (22.61,0.14)]\nOption C\n  waypoints xy: [(2.35,-0.00), (4.36,-0.01), (6.00,-0.01), (7.26,-0.02), (8.14,-0.02), (8.66,-0.02), (8.88,-0.02), (8.95,-0.02), (8.98,-0.02), (9.04,-0.02)]\nOption D\n  waypoints xy: [(4.72,0.08), (9.54,0.28), (14.42,0.61), (19.34,1.07), (24.29,1.66), (29.26,2.37), (34.25,3.18), (39.24,4.07), (44.24,5.05), (49.22,6.09)]\nOption E\n  waypoints xy: [(5.68,-0.01), (11.36,-0.01), (17.02,-0.00), (22.69,0.04), (28.33,0.15), (33.93,0.32), (39.45,0.55), (44.90,0.83), (50.28,1.14), (55.59,1.47)]\nOption F\n  waypoints xy: [(4.32,-0.02), (8.68,-0.04), (13.05,-0.08), (17.43,-0.11), (21.81,-0.15), (26.15,-0.18), (30.43,-0.20), (34.62,-0.23), (38.71,-0.25), (42.67,-0.27)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.5424088217462435,"cv_gap":13.844}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/f84beb164889ed34ede3f1edb8396cc2-228/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f84beb164889ed34ede3f1edb8396cc2-228/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f84beb164889ed34ede3f1edb8396cc2-228/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 9.019 m/s at x-direction and -0.047 m/s at y-direction. The ego vehicle's current acceleration is 0.048 m/s^2 at x-direction and 0.315 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::f84beb164889ed34ede3f1edb8396cc2-228"}},"extra_info":{"index":452,"token":"waymo_e2e::f84beb164889ed34ede3f1edb8396cc2-228","id":"waymo_e2e::f84beb164889ed34ede3f1edb8396cc2-228","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.62,0.00), (13.22,0.01), (19.81,0.01), (26.39,-0.00), (32.97,-0.02), (39.56,-0.05), (46.14,-0.09), (52.71,-0.13), (59.27,-0.16), (65.83,-0.18)]\nOption B\n  waypoints xy: [(4.46,0.20), (8.80,0.68), (12.98,1.45), (16.99,2.53), (20.79,3.92), (24.32,5.60), (27.52,7.50), (30.37,9.57), (32.87,11.73), (35.02,13.96)]\nOption C\n  waypoints xy: [(2.63,-0.54), (5.42,-1.55), (8.36,-2.96), (11.46,-4.69), (14.74,-6.65), (18.19,-8.76), (21.77,-10.98), (25.46,-13.25), (29.22,-15.57), (33.04,-17.91)]\nOption D\n  waypoints xy: [(4.49,0.00), (9.04,0.01), (13.61,0.02), (18.16,0.01), (22.69,-0.02), (27.19,-0.08), (31.66,-0.16), (36.10,-0.28), (40.50,-0.46), (44.84,-0.70)]\nOption E\n  waypoints xy: [(3.16,-0.20), (6.49,-0.65), (9.96,-1.37), (13.55,-2.34), (17.20,-3.55), (20.89,-5.00), (24.59,-6.64), (28.30,-8.46), (32.00,-10.47), (35.67,-12.63)]\nOption F\n  waypoints xy: [(8.01,0.00), (15.95,0.00), (23.83,0.19), (31.66,0.45), (39.52,1.00), (47.45,1.74), (55.48,2.58), (63.59,3.52), (71.79,4.47), (80.06,5.53)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.018923583654663,"cv_gap":18.948}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"woEnPaAZSx","cam_id":"4_resize","sample_timestamps":["000000031009_000350000000","000000031009_000600000000","000000031009_000850000000","000000031010_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000031010_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"woEnPaAZSx","cam_id":"2","sample_timestamps":["000000031008_000600000000","000000031009_000100000000","000000031009_000600000000","000000031010_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000031010_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"woEnPaAZSx","cam_id":"7","sample_timestamps":["000000031008_000600000000","000000031009_000100000000","000000031009_000600000000","000000031010_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000031010_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.900 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.600 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"woEnPaAZSx"}},"extra_info":{"index":453,"token":"woEnPaAZSx","id":"woEnPaAZSx","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.18,-0.28), (2.39,-0.88), (3.55,-1.86), (4.58,-3.25), (5.40,-5.07), (5.96,-7.30), (6.41,-9.90), (6.93,-12.86), (7.54,-16.26), (8.24,-20.04)]\nOption B\n  waypoints xy: [(0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00), (0.00,-0.00)]\nOption C\n  waypoints xy: [(4.00,-0.02), (7.72,-0.05), (11.12,-0.10), (14.12,-0.15), (16.64,-0.20), (18.63,-0.24), (20.06,-0.28), (20.97,-0.30), (21.43,-0.31), (21.61,-0.31)]\nOption D\n  waypoints xy: [(4.42,-0.02), (8.88,-0.05), (13.36,-0.10), (17.83,-0.17), (22.30,-0.24), (26.77,-0.31), (31.24,-0.39), (35.72,-0.46), (40.17,-0.54), (44.57,-0.62)]\nOption E\n  waypoints xy: [(-0.59,0.04), (-1.24,0.06), (-1.90,0.06), (-2.55,0.02), (-3.16,-0.03), (-3.72,-0.10), (-4.24,-0.18), (-4.72,-0.28), (-5.17,-0.38), (-5.57,-0.49)]\nOption F\n  waypoints xy: [(1.48,-0.27), (3.03,-0.79), (4.66,-1.54), (6.38,-2.50), (8.20,-3.66), (10.09,-4.98), (12.05,-6.45), (14.09,-8.06), (16.20,-9.76), (18.37,-11.53)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.900561780022652,"cv_gap":23.244}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/66f8fecc2fa9a42feeb7617bced04b0c-082/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/66f8fecc2fa9a42feeb7617bced04b0c-082/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/66f8fecc2fa9a42feeb7617bced04b0c-082/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.724 m/s at x-direction and 0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.400 m/s^2 at x-direction and -0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::66f8fecc2fa9a42feeb7617bced04b0c-082"}},"extra_info":{"index":454,"token":"waymo_e2e::66f8fecc2fa9a42feeb7617bced04b0c-082","id":"waymo_e2e::66f8fecc2fa9a42feeb7617bced04b0c-082","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.09,-0.66), (3.98,-1.98), (5.44,-3.92), (6.26,-6.41), (6.54,-9.33), (6.45,-12.57), (6.16,-16.11), (5.73,-19.96), (5.22,-24.09), (4.70,-28.44)]\nOption B\n  waypoints xy: [(2.00,-0.38), (4.04,-1.15), (6.05,-2.36), (7.97,-4.00), (9.80,-6.03), (11.56,-8.40), (13.30,-11.06), (15.07,-13.96), (16.88,-17.09), (18.73,-20.37)]\nOption C\n  waypoints xy: [(5.37,0.01), (10.76,0.02), (16.15,0.02), (21.53,0.01), (26.92,-0.01), (32.30,-0.02), (37.67,-0.03), (43.01,-0.04), (48.32,-0.06), (53.57,-0.08)]\nOption D\n  waypoints xy: [(0.27,0.00), (0.56,0.00), (0.93,0.01), (1.39,0.02), (1.98,0.04), (2.65,0.06), (3.40,0.09), (4.26,0.14), (5.22,0.22), (6.27,0.34)]\nOption E\n  waypoints xy: [(1.59,-0.19), (3.38,-0.70), (5.17,-1.65), (6.84,-3.13), (8.27,-5.22), (9.59,-7.96), (10.94,-11.26), (12.37,-14.99), (13.87,-18.95), (15.41,-23.03)]\nOption F\n  waypoints xy: [(4.99,-0.01), (9.66,-0.03), (13.89,-0.06), (17.60,-0.10), (20.73,-0.14), (23.25,-0.17), (25.13,-0.20), (26.43,-0.22), (27.22,-0.24), (27.67,-0.24)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.723576501550706,"cv_gap":26.884}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"2uwbPYY7v1","cam_id":"4_resize","sample_timestamps":["000000002588_000700000000","000000002589_000200000000","000000002589_000700000000","000000002590_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002590_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2uwbPYY7v1","cam_id":"2","sample_timestamps":["000000002588_000700000000","000000002589_000200000000","000000002589_000700000000","000000002590_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002590_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2uwbPYY7v1","cam_id":"7","sample_timestamps":["000000002588_000700000000","000000002589_000200000000","000000002589_000700000000","000000002590_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002590_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with an acceleration**. The ego vehicle's current velocity is 2.500 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.900 m/s^2 at x-direction and 0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"2uwbPYY7v1"}},"extra_info":{"index":455,"token":"2uwbPYY7v1","id":"2uwbPYY7v1","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.23,0.22), (6.41,0.78), (9.45,1.73), (12.29,3.09), (14.87,4.89), (17.14,7.12), (19.01,9.79), (20.46,12.88), (21.52,16.35), (22.29,20.17)]\nOption B\n  waypoints xy: [(4.75,0.04), (9.67,0.14), (14.74,0.27), (19.95,0.44), (25.29,0.63), (30.72,0.83), (36.23,1.04), (41.80,1.26), (47.44,1.48), (53.11,1.71)]\nOption C\n  waypoints xy: [(1.26,-0.01), (2.50,-0.02), (3.72,-0.03), (4.95,-0.05), (6.18,-0.08), (7.42,-0.11), (8.69,-0.15), (9.97,-0.19), (11.28,-0.24), (12.58,-0.30)]\nOption D\n  waypoints xy: [(7.03,-0.02), (13.96,-0.07), (20.78,-0.14), (27.49,-0.23), (34.08,-0.34), (40.55,-0.45), (46.90,-0.58), (53.12,-0.70), (59.21,-0.81), (65.18,-0.92)]\nOption E\n  waypoints xy: [(0.52,-0.00), (0.79,-0.00), (0.92,-0.00), (1.00,0.00), (1.01,0.00), (1.03,0.00), (1.05,0.00), (1.07,0.00), (1.08,0.00), (1.10,0.00)]\nOption F\n  waypoints xy: [(4.53,-0.00), (9.02,-0.03), (13.45,-0.06), (17.80,-0.12), (22.04,-0.20), (26.14,-0.32), (30.05,-0.49), (33.79,-0.69), (37.33,-0.88), (40.69,-1.06)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.5019992006393608,"cv_gap":11.411}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/3509b7c543b5040670086ae767830d78-054/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3509b7c543b5040670086ae767830d78-054/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/3509b7c543b5040670086ae767830d78-054/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.826 m/s at x-direction and -0.012 m/s at y-direction. The ego vehicle's current acceleration is -0.563 m/s^2 at x-direction and 0.005 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::3509b7c543b5040670086ae767830d78-054"}},"extra_info":{"index":456,"token":"waymo_e2e::3509b7c543b5040670086ae767830d78-054","id":"waymo_e2e::3509b7c543b5040670086ae767830d78-054","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.56,0.03), (9.14,0.11), (13.72,0.27), (18.27,0.51), (22.80,0.81), (27.27,1.14), (31.68,1.49), (35.98,1.84), (40.14,2.14), (44.17,2.40)]\nOption B\n  waypoints xy: [(4.79,-0.01), (9.98,-0.03), (15.55,-0.06), (21.46,-0.09), (27.66,-0.13), (34.11,-0.17), (40.75,-0.23), (47.56,-0.29), (54.47,-0.36), (61.45,-0.44)]\nOption C\n  waypoints xy: [(5.62,-0.03), (10.95,-0.11), (15.92,-0.25), (20.48,-0.44), (24.60,-0.68), (28.30,-0.96), (31.56,-1.30), (34.42,-1.69), (36.90,-2.14), (39.05,-2.64)]\nOption D\n  waypoints xy: [(2.91,-0.00), (5.80,-0.01), (8.70,-0.01), (11.62,-0.01), (14.56,-0.00), (17.52,-0.00), (20.49,0.00), (23.44,0.01), (26.37,0.02), (29.28,0.02)]\nOption E\n  waypoints xy: [(4.41,0.00), (8.75,0.01), (13.03,0.01), (17.26,0.01), (21.43,0.02), (25.54,0.03), (29.62,0.04), (33.68,0.05), (37.73,0.06), (41.78,0.07)]\nOption F\n  waypoints xy: [(2.66,-0.01), (4.71,-0.03), (6.06,-0.05), (6.74,-0.06), (6.94,-0.07), (6.95,-0.07), (6.95,-0.07), (6.95,-0.06), (7.01,-0.06), (7.18,-0.07)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.8263886652255685,"cv_gap":20.961}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"xp9FCDAcFO","cam_id":"4_resize","sample_timestamps":["000000000427_000500000000","000000000428_000000000000","000000000428_000500000000","000000000429_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000429_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"xp9FCDAcFO","cam_id":"2","sample_timestamps":["000000000427_000500000000","000000000428_000000000000","000000000428_000500000000","000000000429_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000429_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"xp9FCDAcFO","cam_id":"7","sample_timestamps":["000000000427_000500000000","000000000428_000000000000","000000000428_000500000000","000000000429_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000429_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 3.500 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.300 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"xp9FCDAcFO"}},"extra_info":{"index":457,"token":"xp9FCDAcFO","id":"xp9FCDAcFO","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.41,-0.01), (6.85,-0.12), (10.33,-0.34), (13.85,-0.67), (17.37,-1.08), (20.91,-1.54), (24.45,-2.00), (28.01,-2.46), (31.55,-2.93), (35.04,-3.41)]\nOption B\n  waypoints xy: [(1.69,-0.03), (3.41,-0.08), (5.13,-0.14), (6.85,-0.21), (8.60,-0.30), (10.38,-0.39), (12.16,-0.49), (13.93,-0.60), (15.68,-0.70), (17.41,-0.80)]\nOption C\n  waypoints xy: [(4.30,-0.01), (8.68,-0.02), (13.12,-0.04), (17.61,-0.06), (22.14,-0.08), (26.73,-0.11), (31.35,-0.13), (36.04,-0.16), (40.76,-0.19), (45.52,-0.22)]\nOption D\n  waypoints xy: [(1.53,-0.00), (2.58,-0.00), (3.16,-0.01), (3.36,-0.01), (3.39,-0.01), (3.39,-0.01), (3.40,-0.01), (3.55,-0.01), (4.04,-0.01), (4.91,-0.01)]\nOption E\n  waypoints xy: [(4.53,0.03), (9.09,0.08), (13.50,0.11), (17.74,0.14), (21.73,0.14), (25.30,0.14), (28.52,0.11), (31.41,0.09), (33.86,0.08), (35.82,0.07)]\nOption F\n  waypoints xy: [(2.88,0.63), (5.80,2.03), (8.60,4.21), (11.21,7.12), (13.61,10.65), (15.93,14.66), (18.23,19.05), (20.59,23.73), (23.06,28.63), (25.62,33.67)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.5014282800023193,"cv_gap":12.69}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"QPyaPlq2YJ","cam_id":"4_resize","sample_timestamps":["000000011416_000050000000","000000011416_000300000000","000000011416_000550000000","000000011416_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000011416_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QPyaPlq2YJ","cam_id":"2","sample_timestamps":["000000011415_000300000000","000000011415_000800000000","000000011416_000300000000","000000011416_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000011416_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"QPyaPlq2YJ","cam_id":"7","sample_timestamps":["000000011415_000300000000","000000011415_000800000000","000000011416_000300000000","000000011416_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000011416_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.700 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.900 m/s^2 at x-direction and -0.400 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"QPyaPlq2YJ"}},"extra_info":{"index":458,"token":"QPyaPlq2YJ","id":"QPyaPlq2YJ","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.43,-0.03), (10.97,-0.09), (16.60,-0.19), (22.32,-0.33), (28.11,-0.49), (33.97,-0.68), (39.89,-0.87), (45.88,-1.08), (51.97,-1.28), (58.13,-1.48)]\nOption B\n  waypoints xy: [(1.26,0.05), (2.53,0.13), (3.81,0.20), (5.15,0.28), (6.56,0.35), (8.01,0.42), (9.49,0.48), (10.90,0.52), (12.25,0.53), (13.64,0.54)]\nOption C\n  waypoints xy: [(4.91,-0.05), (9.53,-0.17), (13.87,-0.42), (17.96,-0.88), (21.85,-1.47), (25.54,-2.08), (29.01,-2.65), (32.20,-3.13), (35.07,-3.47), (37.63,-3.63)]\nOption D\n  waypoints xy: [(0.81,-0.00), (1.70,-0.00), (2.46,-0.00), (2.98,-0.00), (3.21,-0.00), (3.26,-0.00), (3.25,-0.00), (3.25,-0.00), (3.26,-0.00), (3.32,-0.00)]\nOption E\n  waypoints xy: [(3.02,0.23), (6.18,0.66), (9.49,1.22), (12.93,1.87), (16.50,2.59), (20.18,3.35), (23.96,4.13), (27.82,4.92), (31.75,5.70), (35.71,6.47)]\nOption F\n  waypoints xy: [(3.87,-0.00), (7.71,-0.02), (11.50,-0.06), (15.23,-0.13), (18.92,-0.25), (22.57,-0.47), (26.20,-0.79), (29.82,-1.20), (33.42,-1.65), (36.97,-2.10)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.701851217221259,"cv_gap":10.102}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"J7SnIwLltc","cam_id":"4_resize","sample_timestamps":["000000021230_000900000000","000000021231_000400000000","000000021231_000900000000","000000021232_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000021232_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"J7SnIwLltc","cam_id":"2","sample_timestamps":["000000021230_000900000000","000000021231_000400000000","000000021231_000900000000","000000021232_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000021232_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"J7SnIwLltc","cam_id":"7","sample_timestamps":["000000021230_000900000000","000000021231_000400000000","000000021231_000900000000","000000021232_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000021232_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 6.300 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.500 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"J7SnIwLltc"}},"extra_info":{"index":459,"token":"J7SnIwLltc","id":"J7SnIwLltc","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.22,-0.00), (12.36,-0.00), (18.36,-0.00), (24.21,-0.00), (29.90,-0.01), (35.46,-0.00), (40.90,0.01), (46.22,0.01), (51.39,0.02), (56.44,0.03)]\nOption B\n  waypoints xy: [(12.56,-0.01), (25.11,-0.01), (37.65,-0.01), (50.20,0.00), (62.74,0.05), (75.31,0.13), (87.91,0.23), (100.51,0.36), (113.10,0.49), (125.64,0.62)]\nOption C\n  waypoints xy: [(2.35,-0.00), (4.39,-0.01), (6.02,-0.01), (7.19,-0.01), (7.98,-0.01), (8.44,-0.01), (8.64,-0.01), (8.67,-0.01), (8.67,-0.01), (8.68,-0.01)]\nOption D\n  waypoints xy: [(3.20,-0.01), (6.39,-0.02), (9.55,-0.04), (12.67,-0.06), (15.77,-0.08), (18.87,-0.10), (21.96,-0.12), (25.06,-0.14), (28.17,-0.17), (31.30,-0.21)]\nOption E\n  waypoints xy: [(4.94,-0.00), (9.77,-0.03), (14.48,-0.06), (19.07,-0.09), (23.50,-0.10), (27.82,-0.11), (32.11,-0.12), (36.38,-0.14), (40.67,-0.18), (44.96,-0.21)]\nOption F\n  waypoints xy: [(9.95,-0.02), (19.88,-0.05), (29.78,-0.08), (39.64,-0.12), (49.45,-0.16), (59.18,-0.19), (68.84,-0.24), (78.43,-0.27), (87.97,-0.31), (97.46,-0.32)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.3,"cv_gap":22.72}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-061/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-061/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/61299b09568e3455470309f22c7aacfa-061/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.980 m/s at x-direction and -0.040 m/s at y-direction. The ego vehicle's current acceleration is -0.377 m/s^2 at x-direction and 0.079 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::61299b09568e3455470309f22c7aacfa-061"}},"extra_info":{"index":460,"token":"waymo_e2e::61299b09568e3455470309f22c7aacfa-061","id":"waymo_e2e::61299b09568e3455470309f22c7aacfa-061","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.76,-0.01), (9.25,-0.03), (13.35,-0.05), (16.97,-0.07), (20.02,-0.09), (22.48,-0.11), (24.34,-0.13), (25.53,-0.14), (26.15,-0.15), (26.44,-0.15)]\nOption B\n  waypoints xy: [(6.43,-0.04), (12.85,-0.13), (19.25,-0.18), (25.64,-0.09), (32.00,0.20), (38.34,0.73), (44.56,1.54), (50.63,2.63), (56.45,3.98), (61.96,5.54)]\nOption C\n  waypoints xy: [(5.46,-0.01), (10.93,-0.03), (16.41,-0.04), (21.89,-0.06), (27.37,-0.08), (32.85,-0.10), (38.32,-0.11), (43.79,-0.13), (49.26,-0.14), (54.74,-0.16)]\nOption D\n  waypoints xy: [(1.84,0.39), (3.77,1.17), (5.70,2.42), (7.53,4.14), (9.26,6.26), (10.94,8.66), (12.52,11.34), (14.03,14.20), (15.46,17.21), (16.84,20.37)]\nOption E\n  waypoints xy: [(0.10,0.00), (0.11,0.00), (0.11,0.00), (0.11,0.00), (0.11,0.00), (0.11,0.00), (0.11,0.00), (0.11,0.00), (0.11,0.00), (0.12,0.00)]\nOption F\n  waypoints xy: [(2.19,0.12), (4.45,0.52), (6.75,1.23), (9.02,2.33), (11.27,3.72), (13.39,5.51), (15.52,7.51), (17.62,9.71), (19.69,12.10), (21.80,14.69)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.98052855704674,"cv_gap":28.351}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/2f3a8f019bbb8b48e8e46c6f7bcca3fd-062/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2f3a8f019bbb8b48e8e46c6f7bcca3fd-062/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/2f3a8f019bbb8b48e8e46c6f7bcca3fd-062/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick deceleration**. The ego vehicle's current velocity is 3.128 m/s at x-direction and -0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.235 m/s^2 at x-direction and -0.004 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2f3a8f019bbb8b48e8e46c6f7bcca3fd-062"}},"extra_info":{"index":461,"token":"waymo_e2e::2f3a8f019bbb8b48e8e46c6f7bcca3fd-062","id":"waymo_e2e::2f3a8f019bbb8b48e8e46c6f7bcca3fd-062","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(2.80,0.56), (5.62,1.81), (8.29,3.81), (10.72,6.52), (12.84,9.89), (14.70,13.80), (16.41,18.12), (18.03,22.76), (19.69,27.64), (21.39,32.71)]\nOption B\n  waypoints xy: [(6.01,-0.01), (11.98,-0.03), (17.90,-0.05), (23.76,-0.09), (29.57,-0.12), (35.32,-0.16), (41.00,-0.19), (46.63,-0.23), (52.20,-0.27), (57.70,-0.30)]\nOption C\n  waypoints xy: [(1.54,-0.00), (3.09,-0.01), (4.64,-0.01), (6.18,-0.02), (7.73,-0.03), (9.25,-0.04), (10.79,-0.05), (12.38,-0.05), (14.04,-0.04), (15.75,-0.03)]\nOption D\n  waypoints xy: [(5.66,-0.02), (11.30,-0.06), (16.87,-0.13), (22.37,-0.24), (27.81,-0.40), (33.17,-0.61), (38.43,-0.87), (43.60,-1.17), (48.72,-1.49), (53.79,-1.80)]\nOption E\n  waypoints xy: [(1.49,0.00), (2.66,0.01), (3.53,0.01), (4.09,0.02), (4.38,0.02), (4.49,0.02), (4.51,0.02), (4.52,0.02), (4.53,0.02), (4.57,0.02)]\nOption F\n  waypoints xy: [(6.69,-0.00), (13.38,0.00), (20.02,0.01), (26.64,0.05), (33.22,0.10), (39.78,0.17), (46.30,0.25), (52.80,0.34), (59.26,0.45), (65.64,0.57)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.1276574387843623,"cv_gap":11.06}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Kjrzrc9f0j","cam_id":"4_resize","sample_timestamps":["000000024202_000600000000","000000024203_000100000000","000000024203_000600000000","000000024204_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000024204_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Kjrzrc9f0j","cam_id":"2","sample_timestamps":["000000024202_000600000000","000000024203_000100000000","000000024203_000600000000","000000024204_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000024204_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Kjrzrc9f0j","cam_id":"7","sample_timestamps":["000000024202_000600000000","000000024203_000100000000","000000024203_000600000000","000000024204_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000024204_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 4.700 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and 0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"Kjrzrc9f0j"}},"extra_info":{"index":462,"token":"Kjrzrc9f0j","id":"Kjrzrc9f0j","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.04,0.03), (14.03,0.10), (20.97,0.20), (27.85,0.29), (34.69,0.33), (41.50,0.35), (48.26,0.37), (54.89,0.41), (61.42,0.45), (67.85,0.50)]\nOption B\n  waypoints xy: [(5.13,-0.01), (10.11,-0.02), (14.88,-0.03), (19.41,-0.04), (23.61,-0.05), (27.45,-0.07), (30.91,-0.09), (33.96,-0.13), (36.60,-0.18), (38.85,-0.28)]\nOption C\n  waypoints xy: [(10.37,-0.02), (20.76,-0.08), (31.15,-0.13), (41.53,-0.20), (51.93,-0.31), (62.33,-0.45), (72.76,-0.66), (83.24,-0.94), (93.78,-1.31), (104.39,-1.77)]\nOption D\n  waypoints xy: [(7.94,0.05), (15.90,0.17), (23.87,0.38), (31.83,0.66), (39.81,0.99), (47.81,1.38), (55.85,1.82), (63.93,2.30), (72.03,2.81), (80.12,3.37)]\nOption E\n  waypoints xy: [(2.37,-0.00), (4.72,-0.00), (7.07,-0.01), (9.42,-0.01), (11.75,-0.02), (14.06,-0.03), (16.34,-0.05), (18.60,-0.07), (20.87,-0.09), (23.12,-0.11)]\nOption F\n  waypoints xy: [(2.00,-0.01), (3.80,-0.02), (5.36,-0.03), (6.65,-0.04), (7.63,-0.05), (8.29,-0.06), (8.64,-0.06), (8.77,-0.06), (8.82,-0.06), (8.85,-0.06)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.701063709417264,"cv_gap":14.854}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"SAA2EXrp00","cam_id":"4_resize","sample_timestamps":["000000006692_000250000000","000000006692_000500000000","000000006692_000750000000","000000006693_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000006693_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"SAA2EXrp00","cam_id":"2","sample_timestamps":["000000006691_000500000000","000000006692_000000000000","000000006692_000500000000","000000006693_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000006693_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"SAA2EXrp00","cam_id":"7","sample_timestamps":["000000006691_000500000000","000000006692_000000000000","000000006692_000500000000","000000006693_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000006693_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.000 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.000 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"SAA2EXrp00"}},"extra_info":{"index":463,"token":"SAA2EXrp00","id":"SAA2EXrp00","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.37,-0.01), (10.73,-0.02), (16.11,-0.04), (21.48,-0.06), (26.88,-0.09), (32.29,-0.13), (37.73,-0.17), (43.19,-0.22), (48.67,-0.27), (54.16,-0.30)]\nOption B\n  waypoints xy: [(0.97,-0.00), (1.96,-0.01), (2.96,-0.01), (3.97,-0.02), (4.99,-0.04), (6.02,-0.05), (7.05,-0.06), (8.07,-0.08), (9.09,-0.10), (10.10,-0.12)]\nOption C\n  waypoints xy: [(1.05,-0.00), (2.07,-0.00), (3.02,-0.00), (3.85,-0.01), (4.51,-0.00), (4.97,-0.00), (5.24,-0.00), (5.37,-0.00), (5.45,-0.00), (5.54,0.00)]\nOption D\n  waypoints xy: [(9.01,0.09), (17.96,0.35), (26.83,0.76), (35.62,1.32), (44.31,1.95), (52.91,2.67), (61.41,3.42), (69.82,4.21), (78.12,5.03), (86.29,5.86)]\nOption E\n  waypoints xy: [(6.21,0.00), (12.61,-0.04), (19.16,-0.18), (25.84,-0.43), (32.60,-0.74), (39.41,-1.06), (46.24,-1.35), (53.07,-1.61), (59.90,-1.83), (66.72,-2.01)]\nOption F\n  waypoints xy: [(3.26,-0.03), (6.79,-0.07), (10.57,-0.14), (14.57,-0.22), (18.77,-0.30), (23.11,-0.37), (27.55,-0.42), (32.06,-0.47), (36.57,-0.50), (41.06,-0.53)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.0,"cv_gap":4.655}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"VRfHiYKJpb","cam_id":"4_resize","sample_timestamps":["000000002667_000300000000","000000002667_000800000000","000000002668_000300000000","000000002668_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002668_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"VRfHiYKJpb","cam_id":"2","sample_timestamps":["000000002667_000300000000","000000002667_000800000000","000000002668_000300000000","000000002668_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002668_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"VRfHiYKJpb","cam_id":"7","sample_timestamps":["000000002667_000300000000","000000002667_000800000000","000000002668_000300000000","000000002668_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002668_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 3.400 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.700 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"VRfHiYKJpb"}},"extra_info":{"index":464,"token":"VRfHiYKJpb","id":"VRfHiYKJpb","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.92,0.04), (7.81,0.15), (11.66,0.33), (15.48,0.59), (19.26,0.92), (23.01,1.29), (26.72,1.68), (30.41,2.06), (34.05,2.41), (37.63,2.74)]\nOption B\n  waypoints xy: [(7.38,-0.08), (14.56,-0.16), (21.49,-0.16), (28.09,-0.23), (34.34,-0.29), (40.27,-0.29), (45.89,-0.29), (51.22,-0.29), (56.29,-0.29), (61.12,-0.29)]\nOption C\n  waypoints xy: [(5.07,-0.00), (9.89,-0.00), (14.44,-0.00), (18.67,0.00), (22.58,0.01), (26.17,0.01), (29.47,-0.01), (32.48,-0.04), (35.23,-0.14), (37.69,-0.34)]\nOption D\n  waypoints xy: [(5.28,0.00), (10.45,0.03), (15.48,0.06), (20.36,0.12), (25.04,0.18), (29.50,0.26), (33.69,0.32), (37.60,0.39), (41.24,0.44), (44.60,0.47)]\nOption E\n  waypoints xy: [(1.19,0.00), (2.12,0.01), (2.79,0.02), (3.21,0.03), (3.43,0.03), (3.50,0.04), (3.52,0.04), (3.52,0.04), (3.54,0.04), (3.61,0.04)]\nOption F\n  waypoints xy: [(1.68,0.00), (3.37,0.02), (5.06,0.04), (6.75,0.07), (8.44,0.13), (10.13,0.21), (11.80,0.32), (13.45,0.47), (15.06,0.66), (16.65,0.87)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4014702703389896,"cv_gap":13.45}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"TMlII84sCg","cam_id":"4_resize","sample_timestamps":["000000007820_000850000000","000000007821_000100000000","000000007821_000350000000","000000007821_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000007821_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TMlII84sCg","cam_id":"2","sample_timestamps":["000000007820_000100000000","000000007820_000600000000","000000007821_000100000000","000000007821_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000007821_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TMlII84sCg","cam_id":"7","sample_timestamps":["000000007820_000100000000","000000007820_000600000000","000000007821_000100000000","000000007821_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000007821_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.700 m/s^2 at x-direction and -0.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"TMlII84sCg"}},"extra_info":{"index":465,"token":"TMlII84sCg","id":"TMlII84sCg","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.13,-0.03), (6.63,-0.08), (10.47,-0.14), (14.61,-0.22), (19.02,-0.30), (23.67,-0.37), (28.51,-0.45), (33.51,-0.52), (38.62,-0.59), (43.82,-0.66)]\nOption B\n  waypoints xy: [(5.86,0.17), (11.71,0.61), (17.55,1.34), (23.37,2.35), (29.16,3.65), (34.91,5.20), (40.63,6.99), (46.32,8.96), (52.00,11.08), (57.67,13.32)]\nOption C\n  waypoints xy: [(4.45,0.01), (8.93,0.06), (13.40,0.14), (17.85,0.25), (22.23,0.37), (26.52,0.50), (30.66,0.66), (34.62,0.82), (38.39,0.99), (41.97,1.17)]\nOption D\n  waypoints xy: [(5.51,-0.01), (11.02,-0.03), (16.54,-0.07), (22.05,-0.12), (27.57,-0.17), (33.09,-0.24), (38.61,-0.31), (44.14,-0.37), (49.65,-0.41), (55.11,-0.44)]\nOption E\n  waypoints xy: [(1.24,0.01), (2.51,0.01), (3.80,0.02), (5.12,0.02), (6.45,0.01), (7.81,0.00), (9.16,-0.01), (10.49,-0.04), (11.78,-0.07), (13.00,-0.10)]\nOption F\n  waypoints xy: [(0.86,0.00), (1.42,0.01), (1.71,0.00), (1.82,0.01), (1.82,0.00), (1.82,0.00), (1.82,0.00), (1.82,0.00), (1.82,0.00), (1.82,0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.6,"cv_gap":11.098}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"GDcPIHPXas","cam_id":"4_resize","sample_timestamps":["000000018175_000900000000","000000018176_000400000000","000000018176_000900000000","000000018177_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000018177_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"GDcPIHPXas","cam_id":"2","sample_timestamps":["000000018175_000900000000","000000018176_000400000000","000000018176_000900000000","000000018177_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000018177_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"GDcPIHPXas","cam_id":"7","sample_timestamps":["000000018175_000900000000","000000018176_000400000000","000000018176_000900000000","000000018177_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000018177_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 1.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"GDcPIHPXas"}},"extra_info":{"index":466,"token":"GDcPIHPXas","id":"GDcPIHPXas","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.65,0.66), (7.37,2.10), (11.11,4.26), (14.91,6.95), (18.83,10.01), (22.93,13.31), (27.19,16.78), (31.59,20.36), (36.09,24.01), (40.67,27.73)]\nOption B\n  waypoints xy: [(7.95,0.01), (16.06,0.04), (24.29,0.07), (32.49,0.06), (40.48,-0.06), (48.19,-0.20), (55.51,-0.37), (62.38,-0.57), (68.77,-0.79), (74.75,-1.02)]\nOption C\n  waypoints xy: [(0.61,-0.00), (1.05,-0.00), (1.37,-0.00), (1.58,0.00), (1.73,0.00), (1.86,0.00), (1.96,0.00), (2.06,0.00), (2.17,0.00), (2.29,0.00)]\nOption D\n  waypoints xy: [(0.90,0.00), (1.82,-0.01), (2.75,-0.00), (3.69,-0.00), (4.62,0.01), (5.53,0.01), (6.41,0.01), (7.27,0.02), (8.11,0.03), (8.94,0.03)]\nOption E\n  waypoints xy: [(5.15,0.00), (10.26,0.02), (15.35,0.03), (20.40,0.05), (25.42,0.08), (30.42,0.11), (35.40,0.15), (40.37,0.18), (45.31,0.22), (50.24,0.26)]\nOption F\n  waypoints xy: [(9.97,-0.03), (19.94,-0.05), (29.90,-0.07), (39.86,-0.11), (49.82,-0.13), (59.77,-0.16), (69.73,-0.18), (79.67,-0.22), (89.60,-0.24), (99.51,-0.27)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":1.8,"cv_gap":6.704}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-181/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-181/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-181/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 5.883 m/s at x-direction and -0.066 m/s at y-direction. The ego vehicle's current acceleration is 0.469 m/s^2 at x-direction and 0.447 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-181"}},"extra_info":{"index":467,"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-181","id":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-181","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.61,0.07), (7.34,0.24), (11.16,0.47), (15.07,0.75), (19.04,1.07), (23.09,1.40), (27.19,1.73), (31.36,2.03), (35.57,2.27), (39.82,2.48)]\nOption B\n  waypoints xy: [(2.77,-0.00), (5.76,-0.00), (8.92,-0.01), (12.26,-0.01), (15.74,-0.02), (19.34,-0.02), (23.05,-0.02), (26.87,-0.02), (30.76,-0.03), (34.69,-0.03)]\nOption C\n  waypoints xy: [(2.48,0.66), (5.01,2.13), (7.31,4.47), (9.24,7.57), (10.77,11.33), (11.93,15.64), (12.92,20.40), (13.84,25.54), (14.76,30.98), (15.71,36.67)]\nOption D\n  waypoints xy: [(3.01,-0.00), (5.97,-0.02), (8.88,-0.03), (11.77,-0.07), (14.67,-0.11), (17.58,-0.19), (20.52,-0.28), (23.49,-0.40), (26.49,-0.54), (29.51,-0.69)]\nOption E\n  waypoints xy: [(4.08,-0.03), (8.25,-0.09), (12.47,-0.16), (16.71,-0.24), (20.90,-0.32), (24.98,-0.39), (28.93,-0.46), (32.74,-0.53), (36.40,-0.61), (39.89,-0.69)]\nOption F\n  waypoints xy: [(3.24,0.03), (6.47,0.07), (9.69,0.14), (12.87,0.21), (15.99,0.31), (19.06,0.38), (22.09,0.48), (25.10,0.57), (28.09,0.60), (31.06,0.60)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.883411545544189,"cv_gap":48.528}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"KGpc5h2fm7","cam_id":"4_resize","sample_timestamps":["000000000438_000100000000","000000000438_000600000000","000000000439_000100000000","000000000439_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000439_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"KGpc5h2fm7","cam_id":"2","sample_timestamps":["000000000438_000100000000","000000000438_000600000000","000000000439_000100000000","000000000439_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000439_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"KGpc5h2fm7","cam_id":"7","sample_timestamps":["000000000438_000100000000","000000000438_000600000000","000000000439_000100000000","000000000439_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000439_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to left with a constant speed**. The ego vehicle's current velocity is 3.800 m/s at x-direction and -0.400 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and 0.600 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"KGpc5h2fm7"}},"extra_info":{"index":468,"token":"KGpc5h2fm7","id":"KGpc5h2fm7","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.70,0.03), (13.45,0.09), (20.26,0.21), (27.09,0.39), (33.96,0.59), (40.87,0.83), (47.81,1.11), (54.76,1.42), (61.74,1.77), (68.72,2.18)]\nOption B\n  waypoints xy: [(2.11,0.16), (3.84,0.36), (5.28,0.56), (6.47,0.76), (7.44,0.94), (8.24,1.11), (8.89,1.27), (9.40,1.44), (9.77,1.59), (10.02,1.70)]\nOption C\n  waypoints xy: [(5.13,0.02), (10.23,0.05), (15.34,0.09), (20.46,0.14), (25.61,0.19), (30.84,0.24), (36.13,0.28), (41.49,0.30), (46.92,0.31), (52.39,0.33)]\nOption D\n  waypoints xy: [(1.83,-0.05), (3.69,-0.17), (5.56,-0.34), (7.43,-0.57), (9.32,-0.83), (11.22,-1.13), (13.15,-1.47), (15.09,-1.83), (17.04,-2.21), (18.98,-2.60)]\nOption E\n  waypoints xy: [(4.86,0.00), (9.72,0.02), (14.57,0.04), (19.41,0.06), (24.24,0.09), (29.07,0.13), (33.88,0.16), (38.68,0.19), (43.47,0.22), (48.27,0.24)]\nOption F\n  waypoints xy: [(3.33,0.00), (6.99,0.01), (10.96,0.01), (15.21,0.01), (19.71,0.00), (24.39,-0.01), (29.24,-0.03), (34.21,-0.07), (39.29,-0.11), (44.44,-0.16)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.82099463490856,"cv_gap":10.492}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-102/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-102/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-102/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 9.507 m/s at x-direction and -0.045 m/s at y-direction. The ego vehicle's current acceleration is -0.283 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-102"}},"extra_info":{"index":469,"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-102","id":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-102","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.53,0.02), (1.36,0.11), (2.58,0.34), (4.18,0.89), (6.06,1.91), (8.02,3.54), (9.84,5.81), (11.39,8.69), (12.61,12.04), (13.48,15.78)]\nOption B\n  waypoints xy: [(14.51,-0.09), (29.04,-0.36), (43.56,-0.85), (58.06,-1.55), (72.55,-2.47), (87.00,-3.58), (101.43,-4.88), (115.84,-6.35), (130.22,-7.96), (144.57,-9.70)]\nOption C\n  waypoints xy: [(1.37,-0.34), (2.73,-1.01), (4.03,-2.03), (5.23,-3.41), (6.34,-5.12), (7.41,-7.11), (8.47,-9.34), (9.56,-11.77), (10.67,-14.37), (11.82,-17.08)]\nOption D\n  waypoints xy: [(6.15,0.00), (12.32,0.01), (18.52,0.00), (24.73,-0.00), (30.95,0.00), (37.16,0.01), (43.34,0.02), (49.49,0.04), (55.60,0.05), (61.67,0.07)]\nOption E\n  waypoints xy: [(4.70,-0.00), (9.41,-0.02), (14.14,-0.03), (18.88,-0.05), (23.63,-0.08), (28.40,-0.12), (33.17,-0.18), (37.95,-0.26), (42.73,-0.35), (47.52,-0.45)]\nOption F\n  waypoints xy: [(4.51,-0.00), (8.63,-0.01), (12.25,-0.03), (15.28,-0.04), (17.63,-0.06), (19.27,-0.07), (20.19,-0.08), (20.58,-0.09), (20.70,-0.09), (20.75,-0.09)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.506801281378802,"cv_gap":27.481}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"JOJ6ahIvXl","cam_id":"4_resize","sample_timestamps":["000000013139_000700000000","000000013140_000200000000","000000013140_000700000000","000000013141_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000013141_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JOJ6ahIvXl","cam_id":"2","sample_timestamps":["000000013139_000700000000","000000013140_000200000000","000000013140_000700000000","000000013141_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000013141_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JOJ6ahIvXl","cam_id":"7","sample_timestamps":["000000013139_000700000000","000000013140_000200000000","000000013140_000700000000","000000013141_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000013141_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 8.100 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"JOJ6ahIvXl"}},"extra_info":{"index":470,"token":"JOJ6ahIvXl","id":"JOJ6ahIvXl","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.05,-0.16), (2.14,-0.55), (3.21,-1.20), (4.20,-2.14), (5.03,-3.35), (5.65,-4.79), (6.07,-6.43), (6.33,-8.24), (6.48,-10.20), (6.55,-12.30)]\nOption B\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption C\n  waypoints xy: [(9.36,0.03), (18.76,0.12), (28.18,0.27), (37.62,0.49), (47.05,0.75), (56.46,1.09), (65.85,1.46), (75.22,1.88), (84.56,2.34), (93.87,2.82)]\nOption D\n  waypoints xy: [(4.14,0.01), (8.24,0.04), (12.30,0.08), (16.32,0.13), (20.33,0.18), (24.31,0.23), (28.27,0.28), (32.22,0.32), (36.16,0.36), (40.07,0.40)]\nOption E\n  waypoints xy: [(11.71,-0.02), (23.44,-0.07), (35.20,-0.14), (47.00,-0.23), (58.83,-0.35), (70.68,-0.50), (82.52,-0.67), (94.33,-0.88), (106.12,-1.12), (117.91,-1.41)]\nOption F\n  waypoints xy: [(3.39,-0.01), (6.39,-0.02), (8.96,-0.02), (11.01,-0.02), (12.51,-0.01), (13.49,-0.00), (13.99,0.00), (14.15,0.00), (14.18,0.00), (14.21,0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.100617260431454,"cv_gap":26.608}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"JAJkonl5De","cam_id":"4_resize","sample_timestamps":["000000004991_000350000000","000000004991_000600000000","000000004991_000850000000","000000004992_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004992_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JAJkonl5De","cam_id":"2","sample_timestamps":["000000004990_000600000000","000000004991_000100000000","000000004991_000600000000","000000004992_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004992_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"JAJkonl5De","cam_id":"7","sample_timestamps":["000000004990_000600000000","000000004991_000100000000","000000004991_000600000000","000000004992_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004992_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn right with a constant speed**. The ego vehicle's current velocity is 3.500 m/s at x-direction and 0.300 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and -1.000 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"JAJkonl5De"}},"extra_info":{"index":471,"token":"JAJkonl5De","id":"JAJkonl5De","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.48,-0.03), (2.78,-0.08), (3.93,-0.16), (4.94,-0.24), (5.82,-0.33), (6.58,-0.42), (7.27,-0.50), (7.89,-0.59), (8.50,-0.68), (9.09,-0.77)]\nOption B\n  waypoints xy: [(5.42,-0.01), (10.85,-0.03), (16.28,-0.06), (21.72,-0.09), (27.17,-0.13), (32.63,-0.18), (38.09,-0.22), (43.54,-0.26), (48.97,-0.30), (54.39,-0.34)]\nOption C\n  waypoints xy: [(3.81,0.01), (7.70,0.04), (11.66,0.08), (15.67,0.14), (19.73,0.20), (23.83,0.26), (27.95,0.31), (32.09,0.36), (36.24,0.41), (40.39,0.46)]\nOption D\n  waypoints xy: [(1.80,0.02), (3.56,0.07), (5.27,0.13), (6.96,0.22), (8.66,0.31), (10.43,0.42), (12.25,0.53), (14.11,0.66), (15.99,0.78), (17.87,0.91)]\nOption E\n  waypoints xy: [(4.16,-0.06), (8.31,-0.23), (12.46,-0.50), (16.61,-0.86), (20.79,-1.31), (24.95,-1.80), (28.98,-2.29), (32.82,-2.75), (36.43,-3.20), (39.82,-3.64)]\nOption F\n  waypoints xy: [(4.53,-0.09), (9.22,-0.32), (14.04,-0.67), (18.98,-1.16), (24.02,-1.78), (29.13,-2.52), (34.27,-3.39), (39.41,-4.34), (44.48,-5.39), (49.45,-6.50)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.5128336140500593,"cv_gap":8.812}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-200/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-200/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-200/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.582 m/s at x-direction and -0.004 m/s at y-direction. The ego vehicle's current acceleration is -0.395 m/s^2 at x-direction and 0.040 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-200"}},"extra_info":{"index":472,"token":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-200","id":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-200","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (0.00,0.00), (0.07,-0.00), (0.24,-0.00), (0.47,-0.00), (0.71,-0.00), (0.96,-0.01)]\nOption B\n  waypoints xy: [(1.84,-0.42), (3.57,-1.33), (5.06,-2.81), (6.16,-4.78), (7.04,-7.13), (7.87,-9.83), (8.66,-12.86), (9.34,-16.13), (9.95,-19.53), (10.50,-23.05)]\nOption C\n  waypoints xy: [(5.97,-0.04), (11.97,-0.12), (18.00,-0.27), (24.04,-0.46), (30.13,-0.68), (36.28,-0.95), (42.47,-1.24), (48.70,-1.57), (54.94,-1.93), (61.19,-2.30)]\nOption D\n  waypoints xy: [(5.31,-0.00), (10.62,-0.01), (15.93,-0.01), (21.23,-0.01), (26.52,-0.01), (31.82,-0.00), (37.10,0.00), (42.36,0.01), (47.58,0.01), (52.77,0.01)]\nOption E\n  waypoints xy: [(4.38,-0.01), (8.32,-0.04), (11.78,-0.14), (14.76,-0.46), (17.30,-1.10), (19.40,-2.10), (21.08,-3.47), (22.32,-5.14), (23.13,-7.06), (23.59,-9.21)]\nOption F\n  waypoints xy: [(0.44,0.00), (1.36,0.02), (2.80,0.04), (4.74,0.06), (7.18,0.09), (10.10,0.13), (13.46,0.17), (17.18,0.23), (21.13,0.29), (25.32,0.36)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.58204168343663,"cv_gap":29.094}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"Np7nCzJ3ZG","cam_id":"4_resize","sample_timestamps":["000000003284_000100000000","000000003284_000600000000","000000003285_000100000000","000000003285_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000003285_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Np7nCzJ3ZG","cam_id":"2","sample_timestamps":["000000003284_000100000000","000000003284_000600000000","000000003285_000100000000","000000003285_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000003285_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"Np7nCzJ3ZG","cam_id":"7","sample_timestamps":["000000003284_000100000000","000000003284_000600000000","000000003285_000100000000","000000003285_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000003285_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn left with a deceleration**. The ego vehicle's current velocity is 8.600 m/s at x-direction and -1.200 m/s at y-direction. The ego vehicle's current acceleration is 0.900 m/s^2 at x-direction and 2.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"Np7nCzJ3ZG"}},"extra_info":{"index":473,"token":"Np7nCzJ3ZG","id":"Np7nCzJ3ZG","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.67,-0.01), (7.55,-0.02), (11.63,-0.03), (15.88,-0.04), (20.28,-0.04), (24.77,-0.04), (29.34,-0.04), (33.96,-0.02), (38.60,0.02), (43.25,0.06)]\nOption B\n  waypoints xy: [(3.99,-0.14), (8.15,-0.46), (12.40,-0.95), (16.72,-1.62), (21.09,-2.49), (25.48,-3.55), (29.81,-4.76), (34.07,-6.09), (38.23,-7.52), (42.29,-9.05)]\nOption C\n  waypoints xy: [(4.47,-0.09), (8.92,-0.31), (13.33,-0.67), (17.69,-1.18), (21.97,-1.82), (26.16,-2.58), (30.22,-3.47), (34.12,-4.47), (37.82,-5.57), (41.29,-6.73)]\nOption D\n  waypoints xy: [(0.74,0.05), (1.52,0.20), (2.32,0.43), (3.15,0.75), (4.00,1.12), (4.87,1.54), (5.75,2.01), (6.64,2.53), (7.52,3.08), (8.39,3.68)]\nOption E\n  waypoints xy: [(3.67,0.51), (7.32,1.66), (10.87,3.37), (14.34,5.53), (17.77,8.00), (21.23,10.72), (24.77,13.69), (28.39,16.91), (32.13,20.34), (36.01,23.95)]\nOption F\n  waypoints xy: [(0.82,-0.01), (1.61,-0.03), (2.38,-0.07), (3.12,-0.11), (3.80,-0.15), (4.40,-0.21), (4.93,-0.26), (5.40,-0.31), (5.83,-0.36), (6.22,-0.40)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.683317338436963,"cv_gap":30.331}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/c6e0a7ff5f95ef5e69cc9b790d177166-098/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/c6e0a7ff5f95ef5e69cc9b790d177166-098/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/c6e0a7ff5f95ef5e69cc9b790d177166-098/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.324 m/s at x-direction and -0.037 m/s at y-direction. The ego vehicle's current acceleration is -0.493 m/s^2 at x-direction and 0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::c6e0a7ff5f95ef5e69cc9b790d177166-098"}},"extra_info":{"index":474,"token":"waymo_e2e::c6e0a7ff5f95ef5e69cc9b790d177166-098","id":"waymo_e2e::c6e0a7ff5f95ef5e69cc9b790d177166-098","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.00,0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (0.00,0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00), (-0.00,0.00)]\nOption B\n  waypoints xy: [(0.27,0.01), (0.52,0.02), (0.82,0.06), (1.14,0.11), (1.48,0.18), (1.82,0.27), (2.16,0.37), (2.50,0.49), (2.82,0.62), (3.13,0.76)]\nOption C\n  waypoints xy: [(4.38,-0.01), (8.32,-0.04), (11.78,-0.14), (14.76,-0.46), (17.30,-1.10), (19.40,-2.10), (21.08,-3.47), (22.32,-5.14), (23.13,-7.06), (23.59,-9.21)]\nOption D\n  waypoints xy: [(0.44,0.00), (1.36,0.02), (2.80,0.04), (4.74,0.06), (7.18,0.09), (10.10,0.13), (13.46,0.17), (17.18,0.23), (21.13,0.29), (25.32,0.36)]\nOption E\n  waypoints xy: [(5.14,0.00), (10.30,0.02), (15.48,0.01), (20.67,-0.01), (25.84,-0.05), (31.01,-0.10), (36.18,-0.17), (41.35,-0.25), (46.50,-0.35), (51.66,-0.46)]\nOption F\n  waypoints xy: [(1.84,-0.42), (3.57,-1.33), (5.06,-2.81), (6.16,-4.78), (7.04,-7.13), (7.87,-9.83), (8.66,-12.86), (9.34,-16.13), (9.95,-19.53), (10.50,-23.05)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.32393284842126,"cv_gap":29.749}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/61b71919fef7978a8b3ccc77688572ca-069/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/61b71919fef7978a8b3ccc77688572ca-069/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/61b71919fef7978a8b3ccc77688572ca-069/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 7.075 m/s at x-direction and 0.033 m/s at y-direction. The ego vehicle's current acceleration is -0.232 m/s^2 at x-direction and -0.240 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::61b71919fef7978a8b3ccc77688572ca-069"}},"extra_info":{"index":475,"token":"waymo_e2e::61b71919fef7978a8b3ccc77688572ca-069","id":"waymo_e2e::61b71919fef7978a8b3ccc77688572ca-069","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.20,-0.28), (2.38,-0.82), (3.52,-1.62), (4.58,-2.67), (5.57,-3.93), (6.50,-5.36), (7.41,-6.92), (8.30,-8.57), (9.18,-10.27), (10.04,-12.02)]\nOption B\n  waypoints xy: [(3.53,-0.00), (7.07,0.00), (10.61,0.00), (14.14,0.01), (17.66,0.01), (21.18,0.01), (24.71,0.00), (28.27,-0.01), (31.84,-0.03), (35.41,-0.05)]\nOption C\n  waypoints xy: [(8.07,-0.01), (16.13,-0.01), (24.20,-0.00), (32.28,0.01), (40.36,0.04), (48.44,0.06), (56.54,0.09), (64.65,0.11), (72.76,0.14), (80.88,0.17)]\nOption D\n  waypoints xy: [(3.12,0.03), (5.97,0.07), (8.52,0.13), (10.68,0.19), (12.38,0.24), (13.67,0.28), (14.60,0.31), (15.18,0.33), (15.43,0.34), (15.48,0.34)]\nOption E\n  waypoints xy: [(8.06,-0.01), (16.14,-0.02), (24.21,-0.03), (32.29,-0.04), (40.34,-0.05), (48.37,-0.05), (56.36,-0.05), (64.27,-0.05), (72.11,-0.03), (79.91,-0.02)]\nOption F\n  waypoints xy: [(0.88,-0.31), (1.74,-0.79), (2.64,-1.46), (3.59,-2.31), (4.60,-3.36), (5.71,-4.60), (6.86,-6.05), (8.01,-7.71), (9.19,-9.57), (10.44,-11.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.074894671610351,"cv_gap":19.941}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"8n2Jyg2YM1","cam_id":"4_resize","sample_timestamps":["000000002013_000500000000","000000002014_000000000000","000000002014_000500000000","000000002015_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002015_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8n2Jyg2YM1","cam_id":"2","sample_timestamps":["000000002013_000500000000","000000002014_000000000000","000000002014_000500000000","000000002015_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002015_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"8n2Jyg2YM1","cam_id":"7","sample_timestamps":["000000002013_000500000000","000000002014_000000000000","000000002014_000500000000","000000002015_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002015_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.900 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"8n2Jyg2YM1"}},"extra_info":{"index":476,"token":"8n2Jyg2YM1","id":"8n2Jyg2YM1","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.13,-0.01), (14.23,-0.04), (21.30,-0.07), (28.33,-0.10), (35.29,-0.13), (42.20,-0.14), (49.05,-0.16), (55.87,-0.17), (62.63,-0.17), (69.32,-0.18)]\nOption B\n  waypoints xy: [(4.27,0.02), (8.68,0.07), (13.18,0.14), (17.77,0.25), (22.40,0.37), (27.06,0.51), (31.71,0.66), (36.36,0.81), (40.99,0.97), (45.58,1.12)]\nOption C\n  waypoints xy: [(1.52,-0.01), (3.03,-0.02), (4.52,-0.05), (5.96,-0.08), (7.36,-0.12), (8.73,-0.16), (10.09,-0.20), (11.45,-0.24), (12.82,-0.29), (14.21,-0.34)]\nOption D\n  waypoints xy: [(5.24,0.06), (10.62,0.18), (16.15,0.50), (21.81,0.89), (27.56,1.29), (33.39,1.76), (39.29,2.16), (45.24,2.64), (51.21,3.11), (57.16,3.57)]\nOption E\n  waypoints xy: [(8.58,-0.02), (17.21,-0.00), (25.90,0.09), (34.60,0.31), (43.29,0.66), (51.99,1.07), (60.66,1.54), (69.35,2.09), (78.07,2.74), (86.86,3.51)]\nOption F\n  waypoints xy: [(1.22,-0.01), (2.38,-0.01), (3.42,-0.01), (4.27,-0.02), (4.93,-0.03), (5.52,-0.03), (6.05,-0.04), (6.55,-0.05), (7.04,-0.06), (7.55,-0.06)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.9017236257093817,"cv_gap":6.945}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"64UUDUkwwT","cam_id":"4_resize","sample_timestamps":["000000004067_000450000000","000000004067_000700000000","000000004067_000950000000","000000004068_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004068_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"64UUDUkwwT","cam_id":"2","sample_timestamps":["000000004066_000700000000","000000004067_000200000000","000000004067_000700000000","000000004068_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004068_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"64UUDUkwwT","cam_id":"7","sample_timestamps":["000000004066_000700000000","000000004067_000200000000","000000004067_000700000000","000000004068_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004068_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.600 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.600 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"64UUDUkwwT"}},"extra_info":{"index":477,"token":"64UUDUkwwT","id":"64UUDUkwwT","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.50,-0.01), (7.32,-0.03), (11.43,-0.05), (15.80,-0.08), (20.42,-0.11), (25.24,-0.16), (30.22,-0.21), (35.34,-0.26), (40.57,-0.33), (45.86,-0.40)]\nOption B\n  waypoints xy: [(0.99,0.00), (1.71,0.00), (2.19,0.01), (2.44,0.01), (2.53,0.01), (2.56,0.01), (2.56,0.01), (2.57,0.01), (2.58,0.01), (2.64,0.01)]\nOption C\n  waypoints xy: [(1.24,0.01), (2.51,0.01), (3.80,0.02), (5.12,0.02), (6.45,0.01), (7.81,0.00), (9.16,-0.01), (10.49,-0.04), (11.78,-0.07), (13.00,-0.10)]\nOption D\n  waypoints xy: [(6.61,-0.03), (13.24,-0.09), (19.90,-0.16), (26.57,-0.27), (33.26,-0.40), (39.97,-0.57), (46.70,-0.76), (53.45,-0.95), (60.20,-1.16), (66.96,-1.37)]\nOption E\n  waypoints xy: [(7.56,0.03), (15.17,0.10), (22.81,0.18), (30.47,0.27), (38.15,0.39), (45.82,0.52), (53.48,0.67), (61.14,0.84), (68.78,1.04), (76.37,1.22)]\nOption F\n  waypoints xy: [(6.10,-0.02), (12.26,-0.07), (18.45,-0.12), (24.68,-0.17), (30.92,-0.22), (37.17,-0.27), (43.41,-0.32), (49.66,-0.36), (55.91,-0.40), (62.17,-0.42)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.6,"cv_gap":10.23}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"4AxMGogSrq","cam_id":"4_resize","sample_timestamps":["000000015639_000500000000","000000015640_000000000000","000000015640_000500000000","000000015641_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000015641_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4AxMGogSrq","cam_id":"2","sample_timestamps":["000000015639_000500000000","000000015640_000000000000","000000015640_000500000000","000000015641_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000015641_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"4AxMGogSrq","cam_id":"7","sample_timestamps":["000000015639_000500000000","000000015640_000000000000","000000015640_000500000000","000000015641_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000015641_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 5.300 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.800 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"4AxMGogSrq"}},"extra_info":{"index":478,"token":"4AxMGogSrq","id":"4AxMGogSrq","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.60,-0.04), (15.24,-0.13), (22.93,-0.29), (30.65,-0.53), (38.37,-0.85), (46.06,-1.25), (53.67,-1.74), (61.18,-2.32), (68.48,-3.00), (75.48,-3.75)]\nOption B\n  waypoints xy: [(6.82,-0.01), (13.65,-0.03), (20.51,-0.05), (27.38,-0.08), (34.27,-0.12), (41.18,-0.15), (48.11,-0.17), (55.06,-0.20), (62.02,-0.23), (68.97,-0.26)]\nOption C\n  waypoints xy: [(6.65,-0.00), (13.33,-0.01), (20.02,-0.03), (26.71,-0.05), (33.38,-0.07), (40.00,-0.09), (46.55,-0.11), (52.99,-0.12), (59.31,-0.13), (65.55,-0.15)]\nOption D\n  waypoints xy: [(2.58,-0.00), (5.19,-0.00), (7.84,0.00), (10.53,0.02), (13.25,0.04), (15.98,0.06), (18.69,0.09), (21.38,0.11), (24.03,0.13), (26.67,0.14)]\nOption E\n  waypoints xy: [(2.26,-0.01), (4.23,-0.01), (5.82,-0.01), (7.04,-0.01), (7.94,-0.01), (8.58,-0.01), (9.02,-0.01), (9.29,-0.01), (9.48,-0.01), (9.63,-0.01)]\nOption F\n  waypoints xy: [(5.07,-0.01), (10.00,-0.01), (14.74,-0.02), (19.21,-0.03), (23.31,-0.04), (26.98,-0.07), (30.17,-0.09), (32.88,-0.13), (35.14,-0.17), (36.94,-0.22)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.3,"cv_gap":17.072}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/46b378860c66284914bb4879a128842a-093/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/46b378860c66284914bb4879a128842a-093/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/46b378860c66284914bb4879a128842a-093/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.049 m/s at x-direction and 0.003 m/s at y-direction. The ego vehicle's current acceleration is -0.475 m/s^2 at x-direction and -0.083 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::46b378860c66284914bb4879a128842a-093"}},"extra_info":{"index":479,"token":"waymo_e2e::46b378860c66284914bb4879a128842a-093","id":"waymo_e2e::46b378860c66284914bb4879a128842a-093","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.18,0.74), (8.56,2.20), (13.13,4.10), (17.95,6.24), (23.03,8.52), (28.38,10.90), (33.98,13.36), (39.74,15.85), (45.61,18.40), (51.57,20.97)]\nOption B\n  waypoints xy: [(2.06,-0.02), (3.62,-0.04), (4.65,-0.05), (5.18,-0.06), (5.35,-0.07), (5.35,-0.07), (5.35,-0.07), (5.36,-0.07), (5.37,-0.07), (5.45,-0.07)]\nOption C\n  waypoints xy: [(4.90,0.01), (9.88,0.04), (14.95,0.10), (20.09,0.22), (25.31,0.41), (30.58,0.71), (35.89,1.11), (41.24,1.58), (46.58,2.10), (51.91,2.64)]\nOption D\n  waypoints xy: [(2.56,-0.02), (5.04,-0.04), (7.51,-0.07), (10.01,-0.09), (12.56,-0.10), (15.16,-0.10), (17.79,-0.09), (20.42,-0.06), (23.06,-0.01), (25.71,0.05)]\nOption E\n  waypoints xy: [(7.33,0.04), (14.67,0.17), (22.04,0.40), (29.44,0.72), (36.87,1.09), (44.32,1.49), (51.77,1.91), (59.20,2.33), (66.59,2.76), (73.93,3.22)]\nOption F\n  waypoints xy: [(4.61,-0.09), (9.18,-0.32), (13.69,-0.69), (18.14,-1.17), (22.52,-1.75), (26.83,-2.41), (31.04,-3.12), (35.14,-3.86), (39.12,-4.62), (42.94,-5.40)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.048862359473964,"cv_gap":19.514}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"1Yl7jLNbOJ","cam_id":"4_resize","sample_timestamps":["000000011538_000600000000","000000011539_000100000000","000000011539_000600000000","000000011540_000100000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000011540_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1Yl7jLNbOJ","cam_id":"2","sample_timestamps":["000000011538_000600000000","000000011539_000100000000","000000011539_000600000000","000000011540_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000011540_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1Yl7jLNbOJ","cam_id":"7","sample_timestamps":["000000011538_000600000000","000000011539_000100000000","000000011539_000600000000","000000011540_000100000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000011540_000100000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.200 m/s at x-direction and 0.100 m/s at y-direction. The ego vehicle's current acceleration is 0.100 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"1Yl7jLNbOJ"}},"extra_info":{"index":480,"token":"1Yl7jLNbOJ","id":"1Yl7jLNbOJ","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.45,0.00), (10.86,0.02), (16.23,0.04), (21.56,0.07), (26.85,0.11), (32.05,0.14), (37.14,0.16), (42.08,0.19), (46.83,0.21), (51.37,0.23)]\nOption B\n  waypoints xy: [(1.83,0.00), (3.41,0.01), (4.75,0.02), (5.87,0.03), (6.76,0.03), (7.43,0.04), (7.91,0.05), (8.21,0.05), (8.42,0.05), (8.59,0.06)]\nOption C\n  waypoints xy: [(7.61,0.01), (15.17,0.02), (22.63,0.04), (29.94,0.07), (37.08,0.12), (44.08,0.19), (51.00,0.28), (57.87,0.40), (64.71,0.53), (71.53,0.67)]\nOption D\n  waypoints xy: [(2.02,0.01), (4.07,0.02), (6.16,0.05), (8.28,0.07), (10.42,0.11), (12.57,0.15), (14.73,0.19), (16.91,0.24), (19.07,0.29), (21.22,0.33)]\nOption E\n  waypoints xy: [(13.39,0.14), (26.80,0.50), (40.18,1.08), (53.45,1.85), (66.60,2.82), (79.64,3.96), (92.60,5.28), (105.48,6.79), (118.32,8.46), (131.11,10.29)]\nOption F\n  waypoints xy: [(4.58,0.00), (9.15,-0.00), (13.69,-0.03), (18.20,-0.09), (22.66,-0.17), (27.08,-0.28), (31.46,-0.45), (35.80,-0.68), (40.12,-0.96), (44.39,-1.25)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.201190307520001,"cv_gap":12.165}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-142/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-142/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/e4e6b217323eb6f5a983de8e836d5d32-142/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 10.020 m/s at x-direction and -0.039 m/s at y-direction. The ego vehicle's current acceleration is -0.518 m/s^2 at x-direction and 0.260 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-142"}},"extra_info":{"index":481,"token":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-142","id":"waymo_e2e::e4e6b217323eb6f5a983de8e836d5d32-142","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.08,0.03), (2.50,0.16), (4.21,0.46), (6.14,1.08), (8.16,2.12), (10.12,3.67), (11.89,5.72), (13.33,8.25), (14.39,11.17), (15.13,14.36)]\nOption B\n  waypoints xy: [(-0.24,0.04), (-0.50,0.06), (-0.76,0.09), (-0.99,0.11), (-1.15,0.12), (-1.24,0.13), (-1.24,0.16), (-1.09,0.28), (-0.79,0.53), (-0.38,0.97)]\nOption C\n  waypoints xy: [(4.71,0.00), (8.92,0.01), (12.54,0.01), (15.33,0.02), (17.16,0.02), (18.14,0.03), (18.79,0.03), (19.26,0.03), (19.83,0.03), (20.96,0.02)]\nOption D\n  waypoints xy: [(1.47,-0.31), (2.99,-0.89), (4.54,-1.74), (6.12,-2.83), (7.73,-4.14), (9.38,-5.63), (11.06,-7.28), (12.77,-9.09), (14.53,-11.04), (16.32,-13.11)]\nOption E\n  waypoints xy: [(5.03,-0.01), (10.06,-0.03), (15.10,-0.06), (20.15,-0.09), (25.19,-0.11), (30.23,-0.13), (35.26,-0.15), (40.28,-0.17), (45.31,-0.21), (50.33,-0.24)]\nOption F\n  waypoints xy: [(5.64,0.00), (11.30,0.01), (16.96,0.03), (22.64,0.05), (28.33,0.08), (34.02,0.10), (39.72,0.13), (45.44,0.15), (51.17,0.18), (56.87,0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":10.020261981463166,"cv_gap":29.871}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/bec283b8c2ae2f27383c32417a09d386-129/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/bec283b8c2ae2f27383c32417a09d386-129/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/bec283b8c2ae2f27383c32417a09d386-129/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 5.924 m/s at x-direction and 0.059 m/s at y-direction. The ego vehicle's current acceleration is -0.066 m/s^2 at x-direction and -0.224 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::bec283b8c2ae2f27383c32417a09d386-129"}},"extra_info":{"index":482,"token":"waymo_e2e::bec283b8c2ae2f27383c32417a09d386-129","id":"waymo_e2e::bec283b8c2ae2f27383c32417a09d386-129","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.78,0.04), (9.53,0.15), (14.22,0.31), (18.85,0.51), (23.43,0.72), (27.97,0.92), (32.48,1.10), (36.99,1.24), (41.45,1.37), (45.85,1.50)]\nOption B\n  waypoints xy: [(3.61,-0.01), (7.00,-0.02), (10.10,-0.03), (12.87,-0.03), (15.31,-0.02), (17.68,-0.01), (20.25,0.00), (23.08,0.03), (26.21,0.06), (29.63,0.08)]\nOption C\n  waypoints xy: [(2.59,-0.37), (5.14,-1.24), (7.52,-2.68), (9.62,-4.69), (11.33,-7.23), (12.63,-10.21), (13.61,-13.55), (14.38,-17.18), (15.04,-21.06), (15.67,-25.15)]\nOption D\n  waypoints xy: [(4.20,0.00), (8.23,0.01), (12.03,0.02), (15.56,0.04), (18.78,0.05), (21.67,0.06), (24.20,0.07), (26.37,0.08), (28.17,0.10), (29.64,0.13)]\nOption E\n  waypoints xy: [(2.94,0.00), (5.88,0.01), (8.81,0.03), (11.75,0.05), (14.71,0.08), (17.67,0.12), (20.65,0.16), (23.62,0.20), (26.59,0.24), (29.56,0.27)]\nOption F\n  waypoints xy: [(4.72,-0.00), (9.47,-0.00), (14.23,0.00), (19.00,0.01), (23.78,0.01), (28.55,0.02), (33.32,0.02), (38.09,0.03), (42.85,0.03), (47.59,0.04)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.924101605708121,"cv_gap":27.615}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"ZWvAfZw2M4","cam_id":"4_resize","sample_timestamps":["000000001932_000700000000","000000001933_000200000000","000000001933_000700000000","000000001934_000200000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001934_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ZWvAfZw2M4","cam_id":"2","sample_timestamps":["000000001932_000700000000","000000001933_000200000000","000000001933_000700000000","000000001934_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001934_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"ZWvAfZw2M4","cam_id":"7","sample_timestamps":["000000001932_000700000000","000000001933_000200000000","000000001933_000700000000","000000001934_000200000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001934_000200000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **change lane to right with a constant speed**. The ego vehicle's current velocity is 2.100 m/s at x-direction and 0.400 m/s at y-direction. The ego vehicle's current acceleration is 0.200 m/s^2 at x-direction and -0.800 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"ZWvAfZw2M4"}},"extra_info":{"index":483,"token":"ZWvAfZw2M4","id":"ZWvAfZw2M4","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.27,0.13), (8.71,0.39), (13.31,0.78), (18.07,1.27), (22.98,1.86), (28.02,2.51), (33.12,3.20), (38.22,3.92), (43.33,4.67), (48.42,5.45)]\nOption B\n  waypoints xy: [(1.08,0.05), (2.17,0.17), (3.27,0.35), (4.36,0.57), (5.46,0.82), (6.58,1.10), (7.70,1.39), (8.82,1.68), (9.91,1.96), (10.96,2.24)]\nOption C\n  waypoints xy: [(4.20,-0.06), (8.29,-0.20), (12.27,-0.44), (16.09,-0.76), (19.74,-1.14), (23.18,-1.52), (26.40,-1.87), (29.41,-2.18), (32.19,-2.45), (34.75,-2.68)]\nOption D\n  waypoints xy: [(5.72,0.00), (11.43,0.01), (17.13,0.03), (22.82,0.05), (28.50,0.07), (34.17,0.09), (39.83,0.11), (45.47,0.12), (51.09,0.12), (56.71,0.11)]\nOption E\n  waypoints xy: [(0.93,-0.07), (1.88,-0.26), (2.84,-0.56), (3.79,-0.95), (4.74,-1.41), (5.68,-1.91), (6.59,-2.44), (7.48,-2.99), (8.35,-3.56), (9.20,-4.12)]\nOption F\n  waypoints xy: [(4.63,-0.01), (9.20,-0.03), (13.67,-0.07), (18.02,-0.11), (22.17,-0.18), (26.10,-0.26), (29.83,-0.34), (33.37,-0.43), (36.74,-0.53), (40.06,-0.64)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.137755832643195,"cv_gap":6.55}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"1ZmTD0RkIV","cam_id":"4_resize","sample_timestamps":["000000001085_000500000000","000000001086_000000000000","000000001086_000500000000","000000001087_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000001087_000050000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1ZmTD0RkIV","cam_id":"2","sample_timestamps":["000000001085_000500000000","000000001086_000000000000","000000001086_000500000000","000000001087_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000001087_000050000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"1ZmTD0RkIV","cam_id":"7","sample_timestamps":["000000001085_000500000000","000000001086_000000000000","000000001086_000500000000","000000001087_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000001087_000050000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 3.400 m/s at x-direction and 0.500 m/s at y-direction. The ego vehicle's current acceleration is 0.300 m/s^2 at x-direction and -0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"1ZmTD0RkIV"}},"extra_info":{"index":484,"token":"1ZmTD0RkIV","id":"1ZmTD0RkIV","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.82,-0.13), (3.56,-0.48), (5.19,-1.09), (6.67,-1.94), (7.93,-3.02), (8.94,-4.27), (9.70,-5.64), (10.26,-7.13), (10.66,-8.70), (10.97,-10.35)]\nOption B\n  waypoints xy: [(1.76,0.04), (3.53,0.14), (5.30,0.29), (7.07,0.49), (8.83,0.75), (10.56,1.08), (12.24,1.47), (13.86,1.95), (15.41,2.51), (16.89,3.17)]\nOption C\n  waypoints xy: [(4.34,-0.01), (8.79,-0.03), (13.35,-0.06), (17.98,-0.10), (22.67,-0.16), (27.42,-0.24), (32.20,-0.33), (37.00,-0.45), (41.79,-0.58), (46.55,-0.71)]\nOption D\n  waypoints xy: [(8.34,-0.05), (16.57,-0.18), (24.66,-0.40), (32.62,-0.76), (40.44,-1.30), (48.13,-2.02), (55.68,-2.95), (63.11,-4.04), (70.47,-5.23), (77.80,-6.44)]\nOption E\n  waypoints xy: [(1.60,0.16), (3.18,0.55), (4.69,1.23), (6.03,2.20), (7.16,3.42), (8.04,4.84), (8.67,6.42), (9.08,8.12), (9.32,9.88), (9.45,11.69)]\nOption F\n  waypoints xy: [(1.70,0.18), (3.45,0.80), (5.07,1.71), (6.45,2.77), (7.68,3.83), (8.80,4.87), (9.88,5.84), (10.90,6.75), (11.79,7.53), (12.46,8.11)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.4365680554879163,"cv_gap":12.641}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-111/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-111/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/deeb98a44ce67465bdbacd2d5ba2d054-111/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 7.984 m/s at x-direction and -0.027 m/s at y-direction. The ego vehicle's current acceleration is -0.494 m/s^2 at x-direction and 0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-111"}},"extra_info":{"index":485,"token":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-111","id":"waymo_e2e::deeb98a44ce67465bdbacd2d5ba2d054-111","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.61,-0.03), (13.24,-0.09), (19.90,-0.16), (26.57,-0.27), (33.26,-0.40), (39.97,-0.57), (46.70,-0.76), (53.45,-0.95), (60.20,-1.16), (66.96,-1.37)]\nOption B\n  waypoints xy: [(0.91,-0.42), (1.53,-0.87), (2.02,-1.37), (2.47,-2.01), (2.91,-2.87), (3.37,-3.97), (3.82,-5.30), (4.25,-6.89), (4.76,-8.70), (5.36,-10.69)]\nOption C\n  waypoints xy: [(3.63,-0.01), (6.78,-0.04), (9.30,-0.06), (11.06,-0.09), (12.07,-0.11), (12.49,-0.12), (12.59,-0.12), (12.61,-0.12), (12.67,-0.12), (12.86,-0.12)]\nOption D\n  waypoints xy: [(1.22,0.47), (2.31,1.29), (3.16,2.42), (3.67,3.79), (3.78,5.29), (3.46,6.83), (2.76,8.34), (1.73,9.79), (0.45,11.19), (-1.01,12.58)]\nOption E\n  waypoints xy: [(4.01,-0.00), (8.02,-0.00), (12.01,0.00), (16.01,0.01), (20.02,0.02), (24.03,0.02), (28.05,0.02), (32.08,0.03), (36.13,0.03), (40.16,0.02)]\nOption F\n  waypoints xy: [(5.65,-0.01), (11.28,-0.03), (16.92,-0.06), (22.55,-0.09), (28.18,-0.12), (33.81,-0.15), (39.43,-0.18), (45.04,-0.21), (50.61,-0.23), (56.12,-0.25)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":7.984451145732595,"cv_gap":27.607}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/f0941b3325e0eaef565fe5a3ed43f664-093/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f0941b3325e0eaef565fe5a3ed43f664-093/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/f0941b3325e0eaef565fe5a3ed43f664-093/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 8.994 m/s at x-direction and 0.000 m/s at y-direction. The ego vehicle's current acceleration is -0.254 m/s^2 at x-direction and -0.002 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::f0941b3325e0eaef565fe5a3ed43f664-093"}},"extra_info":{"index":486,"token":"waymo_e2e::f0941b3325e0eaef565fe5a3ed43f664-093","id":"waymo_e2e::f0941b3325e0eaef565fe5a3ed43f664-093","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.40,0.00), (8.86,0.01), (13.36,0.00), (17.89,0.01), (22.44,0.01), (27.01,0.03), (31.58,0.06), (36.12,0.11), (40.63,0.15), (45.09,0.19)]\nOption B\n  waypoints xy: [(4.29,-0.01), (8.21,-0.04), (11.66,-0.08), (14.55,-0.13), (16.81,-0.18), (18.39,-0.21), (19.31,-0.23), (19.74,-0.24), (19.90,-0.25), (19.98,-0.25)]\nOption C\n  waypoints xy: [(6.56,-0.27), (13.13,-0.99), (19.70,-2.13), (26.25,-3.62), (32.78,-5.40), (39.30,-7.41), (45.77,-9.62), (52.17,-11.99), (58.47,-14.52), (64.66,-17.14)]\nOption D\n  waypoints xy: [(1.14,-0.04), (2.59,-0.19), (4.29,-0.53), (6.13,-1.20), (7.97,-2.28), (9.70,-3.82), (11.17,-5.86), (12.31,-8.35), (13.13,-11.25), (13.75,-14.50)]\nOption E\n  waypoints xy: [(6.22,0.05), (12.37,0.21), (18.41,0.49), (24.29,0.87), (30.00,1.29), (35.51,1.72), (40.79,2.15), (45.81,2.55), (50.56,2.93), (55.07,3.28)]\nOption F\n  waypoints xy: [(1.85,0.21), (3.73,0.74), (5.53,1.68), (7.12,3.05), (8.37,4.80), (9.27,6.83), (9.86,9.08), (10.27,11.50), (10.57,14.08), (10.81,16.78)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":8.994272239289389,"cv_gap":25.136}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"TpTi7v7xWF","cam_id":"4_resize","sample_timestamps":["000000014694_000650000000","000000014694_000900000000","000000014695_000150000000","000000014695_000400000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000014695_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TpTi7v7xWF","cam_id":"2","sample_timestamps":["000000014693_000900000000","000000014694_000400000000","000000014694_000900000000","000000014695_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000014695_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"TpTi7v7xWF","cam_id":"7","sample_timestamps":["000000014693_000900000000","000000014694_000400000000","000000014694_000900000000","000000014695_000400000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000014695_000400000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 2.300 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -3.300 m/s^2 at x-direction and 0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"TpTi7v7xWF"}},"extra_info":{"index":487,"token":"TpTi7v7xWF","id":"TpTi7v7xWF","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.26,-0.00), (0.44,-0.01), (0.56,-0.01), (0.65,-0.01), (0.71,-0.01), (0.77,-0.01), (0.83,-0.01), (0.90,-0.01), (0.98,-0.01), (1.12,-0.01)]\nOption B\n  waypoints xy: [(1.14,0.00), (2.31,0.00), (3.48,0.01), (4.65,0.01), (5.81,0.01), (6.98,0.01), (8.14,0.01), (9.28,0.02), (10.39,0.02), (11.47,0.03)]\nOption C\n  waypoints xy: [(6.65,-0.01), (13.37,-0.01), (20.12,-0.00), (26.91,0.00), (33.73,0.00), (40.59,0.01), (47.54,0.01), (54.55,0.00), (61.61,-0.00), (68.69,0.01)]\nOption D\n  waypoints xy: [(4.61,0.06), (9.31,0.21), (14.11,0.43), (19.04,0.71), (24.06,1.04), (29.17,1.39), (34.34,1.73), (39.56,2.06), (44.80,2.36), (50.05,2.63)]\nOption E\n  waypoints xy: [(5.73,-0.01), (11.39,-0.01), (16.95,-0.03), (22.38,-0.05), (27.64,-0.08), (32.72,-0.12), (37.57,-0.15), (42.19,-0.18), (46.56,-0.20), (50.66,-0.20)]\nOption F\n  waypoints xy: [(7.36,-0.02), (14.75,-0.08), (22.17,-0.14), (29.56,-0.22), (36.91,-0.31), (44.19,-0.39), (51.39,-0.47), (58.49,-0.55), (65.48,-0.64), (72.37,-0.73)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.3,"cv_gap":10.383}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"2FDH15Bkyl","cam_id":"4_resize","sample_timestamps":["000000002909_000200000000","000000002909_000700000000","000000002910_000200000000","000000002910_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002910_000750000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2FDH15Bkyl","cam_id":"2","sample_timestamps":["000000002909_000200000000","000000002909_000700000000","000000002910_000200000000","000000002910_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002910_000750000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"2FDH15Bkyl","cam_id":"7","sample_timestamps":["000000002909_000200000000","000000002909_000700000000","000000002910_000200000000","000000002910_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002910_000750000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 6.800 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is 0.200 m/s^2 at x-direction and -0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"2FDH15Bkyl"}},"extra_info":{"index":488,"token":"2FDH15Bkyl","id":"2FDH15Bkyl","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.17,0.02), (10.27,0.05), (15.28,0.09), (20.20,0.12), (25.01,0.12), (29.69,0.10), (34.26,0.08), (38.75,0.06), (43.18,0.06), (47.56,0.05)]\nOption B\n  waypoints xy: [(3.36,0.00), (6.73,0.01), (10.12,0.01), (13.53,0.02), (16.95,0.02), (20.38,0.01), (23.82,-0.01), (27.26,-0.03), (30.67,-0.06), (34.06,-0.09)]\nOption C\n  waypoints xy: [(2.91,0.01), (5.36,0.04), (7.28,0.06), (8.64,0.08), (9.46,0.10), (9.82,0.10), (9.89,0.10), (9.91,0.10), (9.93,0.10), (10.00,0.10)]\nOption D\n  waypoints xy: [(3.16,-0.01), (6.78,-0.02), (10.84,-0.02), (15.29,-0.04), (20.09,-0.04), (25.20,-0.05), (30.55,-0.05), (36.10,-0.05), (41.78,-0.05), (47.57,-0.04)]\nOption E\n  waypoints xy: [(5.18,-0.01), (10.41,-0.02), (15.64,-0.03), (20.89,-0.05), (26.13,-0.07), (31.36,-0.10), (36.58,-0.13), (41.72,-0.16), (46.74,-0.20), (51.50,-0.24)]\nOption F\n  waypoints xy: [(4.81,0.01), (9.67,0.05), (14.58,0.10), (19.51,0.17), (24.48,0.23), (29.49,0.29), (34.52,0.34), (39.57,0.40), (44.65,0.45), (49.76,0.50)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":6.8,"cv_gap":23.805}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"LxjRkpZlOY","cam_id":"4_resize","sample_timestamps":["000000000212_000000000000","000000000212_000500000000","000000000213_000000000000","000000000213_000500000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000213_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LxjRkpZlOY","cam_id":"2","sample_timestamps":["000000000212_000000000000","000000000212_000500000000","000000000213_000000000000","000000000213_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000213_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"LxjRkpZlOY","cam_id":"7","sample_timestamps":["000000000212_000000000000","000000000212_000500000000","000000000213_000000000000","000000000213_000500000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000213_000500000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **turn right with an acceleration**. The ego vehicle's current velocity is 3.000 m/s at x-direction and 1.300 m/s at y-direction. The ego vehicle's current acceleration is 1.000 m/s^2 at x-direction and -2.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"LxjRkpZlOY"}},"extra_info":{"index":489,"token":"LxjRkpZlOY","id":"LxjRkpZlOY","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.60,0.31), (3.29,0.98), (4.98,2.06), (6.59,3.59), (8.05,5.55), (9.37,7.87), (10.57,10.48), (11.69,13.32), (12.76,16.35), (13.82,19.52)]\nOption B\n  waypoints xy: [(5.26,-0.01), (10.48,-0.01), (15.62,-0.02), (20.63,-0.05), (25.46,-0.08), (30.10,-0.11), (34.53,-0.14), (38.75,-0.17), (42.75,-0.21), (46.53,-0.23)]\nOption C\n  waypoints xy: [(3.93,-0.02), (7.84,-0.05), (11.67,-0.10), (15.41,-0.17), (19.04,-0.26), (22.58,-0.37), (26.06,-0.52), (29.50,-0.69), (32.87,-0.88), (36.15,-1.08)]\nOption D\n  waypoints xy: [(1.65,0.00), (3.57,0.01), (5.72,0.01), (8.03,0.02), (10.48,0.03), (13.04,0.03), (15.70,0.04), (18.41,0.04), (21.15,0.04), (23.90,0.04)]\nOption E\n  waypoints xy: [(1.42,0.08), (2.87,0.33), (4.35,0.74), (5.87,1.29), (7.41,1.97), (8.99,2.75), (10.60,3.64), (12.26,4.61), (13.94,5.66), (15.63,6.75)]\nOption F\n  waypoints xy: [(1.39,-0.32), (2.75,-1.10), (3.88,-2.35), (4.72,-4.04), (5.31,-6.15), (5.76,-8.69), (6.22,-11.65), (6.74,-14.99), (7.29,-18.66), (7.87,-22.58)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":3.269556544854363,"cv_gap":30.874}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/d89e83580e5cb1c4b91bbe6fd10e41ee-033/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d89e83580e5cb1c4b91bbe6fd10e41ee-033/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/d89e83580e5cb1c4b91bbe6fd10e41ee-033/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.866 m/s at x-direction and -0.006 m/s at y-direction. The ego vehicle's current acceleration is -0.251 m/s^2 at x-direction and -0.007 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::d89e83580e5cb1c4b91bbe6fd10e41ee-033"}},"extra_info":{"index":490,"token":"waymo_e2e::d89e83580e5cb1c4b91bbe6fd10e41ee-033","id":"waymo_e2e::d89e83580e5cb1c4b91bbe6fd10e41ee-033","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.91,-0.01), (9.89,-0.02), (14.93,-0.04), (20.03,-0.07), (25.19,-0.11), (30.41,-0.16), (35.68,-0.21), (41.00,-0.26), (46.36,-0.31), (51.72,-0.37)]\nOption B\n  waypoints xy: [(2.41,-0.01), (4.82,-0.04), (7.24,-0.07), (9.68,-0.10), (12.13,-0.14), (14.60,-0.17), (17.06,-0.21), (19.52,-0.25), (21.99,-0.30), (24.48,-0.36)]\nOption C\n  waypoints xy: [(4.07,-0.18), (8.36,-0.56), (12.85,-1.12), (17.52,-1.82), (22.35,-2.61), (27.27,-3.48), (32.24,-4.41), (37.21,-5.38), (42.20,-6.40), (47.17,-7.47)]\nOption D\n  waypoints xy: [(2.24,-0.02), (4.13,-0.04), (5.63,-0.06), (6.74,-0.08), (7.46,-0.09), (7.83,-0.09), (7.94,-0.09), (7.97,-0.09), (8.02,-0.09), (8.13,-0.09)]\nOption E\n  waypoints xy: [(5.88,-0.01), (11.82,-0.03), (17.84,-0.05), (23.93,-0.08), (30.09,-0.10), (36.32,-0.14), (42.58,-0.17), (48.89,-0.20), (55.23,-0.23), (61.58,-0.24)]\nOption F\n  waypoints xy: [(5.86,-0.00), (11.73,-0.00), (17.60,0.01), (23.46,0.03), (29.29,0.05), (35.10,0.09), (40.86,0.12), (46.58,0.15), (52.25,0.19), (57.86,0.23)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.866045019271969,"cv_gap":16.303}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-180/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-180/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2477ae9cb3381dca2828b3aa9fb74e7a-180/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a quick acceleration**. The ego vehicle's current velocity is 5.706 m/s at x-direction and -0.052 m/s at y-direction. The ego vehicle's current acceleration is 0.460 m/s^2 at x-direction and 0.348 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go left, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-180"}},"extra_info":{"index":491,"token":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-180","id":"waymo_e2e::2477ae9cb3381dca2828b3aa9fb74e7a-180","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(3.61,0.07), (7.34,0.24), (11.16,0.47), (15.07,0.75), (19.04,1.07), (23.09,1.40), (27.19,1.73), (31.36,2.03), (35.57,2.27), (39.82,2.48)]\nOption B\n  waypoints xy: [(2.18,0.01), (4.39,0.01), (6.62,0.02), (8.88,0.03), (11.19,0.06), (13.56,0.08), (16.01,0.10), (18.53,0.11), (21.11,0.11), (23.79,0.09)]\nOption C\n  waypoints xy: [(3.25,0.02), (6.50,0.05), (9.72,0.10), (12.89,0.18), (16.00,0.24), (19.04,0.30), (21.99,0.36), (24.81,0.41), (27.47,0.45), (29.94,0.48)]\nOption D\n  waypoints xy: [(2.48,0.66), (5.01,2.13), (7.31,4.47), (9.24,7.57), (10.77,11.33), (11.93,15.64), (12.92,20.40), (13.84,25.54), (14.76,30.98), (15.71,36.67)]\nOption E\n  waypoints xy: [(4.08,-0.03), (8.25,-0.09), (12.47,-0.16), (16.71,-0.24), (20.90,-0.32), (24.98,-0.39), (28.93,-0.46), (32.74,-0.53), (36.40,-0.61), (39.89,-0.69)]\nOption F\n  waypoints xy: [(2.84,-0.01), (5.70,-0.04), (8.57,-0.07), (11.45,-0.11), (14.34,-0.16), (17.23,-0.22), (20.10,-0.27), (22.97,-0.33), (25.82,-0.37), (28.67,-0.41)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"D","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.706136221597647,"cv_gap":47.182}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"5JodYOeoeE","cam_id":"4_resize","sample_timestamps":["000000015230_000300000000","000000015230_000800000000","000000015231_000300000000","000000015231_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000015231_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5JodYOeoeE","cam_id":"2","sample_timestamps":["000000015230_000300000000","000000015230_000800000000","000000015231_000300000000","000000015231_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000015231_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"5JodYOeoeE","cam_id":"7","sample_timestamps":["000000015230_000300000000","000000015230_000800000000","000000015231_000300000000","000000015231_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000015231_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.200 m/s at x-direction and -0.000 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"token":"5JodYOeoeE"}},"extra_info":{"index":492,"token":"5JodYOeoeE","id":"5JodYOeoeE","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(8.12,0.03), (16.24,0.12), (24.35,0.26), (32.44,0.45), (40.55,0.68), (48.69,0.96), (56.84,1.30), (64.98,1.67), (73.14,2.07), (81.30,2.51)]\nOption B\n  waypoints xy: [(3.22,-0.49), (6.75,-1.39), (10.61,-2.61), (14.78,-4.06), (19.21,-5.67), (23.84,-7.42), (28.64,-9.25), (33.57,-11.15), (38.58,-13.09), (43.64,-15.07)]\nOption C\n  waypoints xy: [(1.96,-0.01), (3.64,-0.01), (5.06,-0.02), (6.25,-0.02), (7.21,-0.02), (7.97,-0.01), (8.55,-0.01), (9.02,-0.01), (9.42,-0.00), (9.77,0.01)]\nOption D\n  waypoints xy: [(2.19,0.00), (4.36,0.01), (6.48,0.01), (8.57,0.01), (10.64,-0.00), (12.70,-0.02), (14.75,-0.03), (16.77,-0.04), (18.73,-0.05), (20.61,-0.06)]\nOption E\n  waypoints xy: [(8.65,0.04), (17.32,0.16), (26.01,0.37), (34.71,0.65), (43.41,1.01), (52.13,1.42), (60.87,1.88), (69.63,2.40), (78.41,2.96), (87.21,3.59)]\nOption F\n  waypoints xy: [(12.27,-0.01), (24.54,-0.01), (36.82,-0.01), (49.11,-0.01), (61.41,-0.01), (73.71,-0.01), (86.03,-0.01), (98.36,0.01), (110.68,0.03), (123.00,0.08)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"C","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.2,"cv_gap":11.108}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"XfkefYJt1Z","cam_id":"4_resize","sample_timestamps":["000000009770_000850000000","000000009771_000100000000","000000009771_000350000000","000000009771_000600000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000009771_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XfkefYJt1Z","cam_id":"2","sample_timestamps":["000000009770_000100000000","000000009770_000600000000","000000009771_000100000000","000000009771_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000009771_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"XfkefYJt1Z","cam_id":"7","sample_timestamps":["000000009770_000100000000","000000009770_000600000000","000000009771_000100000000","000000009771_000600000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000009771_000600000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 4.600 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and 0.300 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"XfkefYJt1Z"}},"extra_info":{"index":493,"token":"XfkefYJt1Z","id":"XfkefYJt1Z","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.58,-0.15), (9.14,-0.45), (13.66,-0.84), (18.14,-1.26), (22.54,-1.70), (26.78,-2.13), (30.86,-2.55), (34.86,-2.96), (38.76,-3.33), (42.54,-3.69)]\nOption B\n  waypoints xy: [(7.30,-0.01), (14.69,-0.03), (22.15,-0.04), (29.67,-0.04), (37.27,-0.03), (44.94,-0.01), (52.65,0.01), (60.39,0.01), (68.16,0.01), (75.94,0.00)]\nOption C\n  waypoints xy: [(2.44,-0.00), (4.83,-0.02), (7.17,-0.04), (9.45,-0.07), (11.69,-0.10), (13.89,-0.13), (16.07,-0.16), (18.22,-0.21), (20.34,-0.25), (22.43,-0.30)]\nOption D\n  waypoints xy: [(5.63,-0.02), (11.31,-0.04), (17.01,-0.06), (22.72,-0.08), (28.44,-0.10), (34.16,-0.10), (39.89,-0.10), (45.61,-0.10), (51.32,-0.07), (57.03,-0.04)]\nOption E\n  waypoints xy: [(6.62,0.02), (13.14,0.07), (19.61,0.15), (26.06,0.25), (32.48,0.40), (38.89,0.61), (45.29,0.90), (51.68,1.27), (58.05,1.69), (64.41,2.14)]\nOption F\n  waypoints xy: [(1.43,0.01), (2.78,0.03), (4.05,0.05), (5.24,0.09), (6.37,0.15), (7.43,0.23), (8.44,0.35), (9.42,0.53), (10.39,0.75), (11.36,1.03)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.601086828130936,"cv_gap":11.325}}
{"data_source":"qwen25vl_v4_strict_readable_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"68evJknecz","cam_id":"4_resize","sample_timestamps":["000000000638_000300000000","000000000638_000800000000","000000000639_000300000000","000000000639_000800000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000000639_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"68evJknecz","cam_id":"2","sample_timestamps":["000000000638_000300000000","000000000638_000800000000","000000000639_000300000000","000000000639_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000000639_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"68evJknecz","cam_id":"7","sample_timestamps":["000000000638_000300000000","000000000638_000800000000","000000000639_000300000000","000000000639_000800000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000000639_000800000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 5.800 m/s at x-direction and -0.100 m/s at y-direction. The ego vehicle's current acceleration is -1.100 m/s^2 at x-direction and 0.100 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"token":"68evJknecz"}},"extra_info":{"index":494,"token":"68evJknecz","id":"68evJknecz","dataset_name":"qwen25vl_v4_strict_readable_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(7.43,0.03), (14.97,0.11), (22.62,0.25), (30.38,0.44), (38.19,0.68), (46.06,0.97), (53.96,1.29), (61.89,1.62), (69.83,1.96), (77.78,2.31)]\nOption B\n  waypoints xy: [(2.11,0.16), (3.84,0.36), (5.28,0.56), (6.47,0.76), (7.44,0.94), (8.24,1.11), (8.89,1.27), (9.40,1.44), (9.77,1.59), (10.02,1.70)]\nOption C\n  waypoints xy: [(4.67,-0.03), (9.32,-0.13), (13.90,-0.30), (18.40,-0.53), (22.83,-0.85), (27.20,-1.21), (31.51,-1.63), (35.75,-2.09), (39.92,-2.58), (44.02,-3.10)]\nOption D\n  waypoints xy: [(2.84,-0.01), (5.70,-0.04), (8.57,-0.07), (11.45,-0.11), (14.34,-0.16), (17.23,-0.22), (20.10,-0.27), (22.97,-0.33), (25.82,-0.37), (28.67,-0.41)]\nOption E\n  waypoints xy: [(4.07,-0.02), (8.21,-0.05), (12.41,-0.09), (16.65,-0.13), (20.88,-0.17), (25.08,-0.19), (29.24,-0.19), (33.35,-0.17), (37.42,-0.14), (41.43,-0.09)]\nOption F\n  waypoints xy: [(4.04,-0.05), (8.30,-0.14), (12.78,-0.28), (17.45,-0.47), (22.27,-0.69), (27.21,-0.93), (32.25,-1.18), (37.37,-1.45), (42.52,-1.72), (47.66,-1.99)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"B","option_letters":["A","B","C","D","E","F"],"velocity_norm":5.80086200490927,"cv_gap":19.249}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/e5b0127cfb1faa95765e237508a1889f-102/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/e5b0127cfb1faa95765e237508a1889f-102/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/e5b0127cfb1faa95765e237508a1889f-102/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 4.284 m/s at x-direction and -0.002 m/s at y-direction. The ego vehicle's current acceleration is -0.319 m/s^2 at x-direction and -0.015 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::e5b0127cfb1faa95765e237508a1889f-102"}},"extra_info":{"index":495,"token":"waymo_e2e::e5b0127cfb1faa95765e237508a1889f-102","id":"waymo_e2e::e5b0127cfb1faa95765e237508a1889f-102","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(5.45,-0.03), (10.88,-0.08), (16.29,-0.18), (21.65,-0.32), (26.93,-0.48), (32.11,-0.67), (37.18,-0.85), (42.10,-1.02), (46.81,-1.16), (51.29,-1.27)]\nOption B\n  waypoints xy: [(2.07,0.00), (4.20,0.00), (6.37,0.00), (8.54,0.00), (10.70,0.00), (12.85,0.00), (15.02,-0.00), (17.24,-0.00), (19.54,-0.00), (21.92,-0.02)]\nOption C\n  waypoints xy: [(4.51,-0.08), (9.06,-0.26), (13.64,-0.52), (18.25,-0.86), (22.85,-1.26), (27.44,-1.69), (31.97,-2.13), (36.33,-2.56), (40.51,-2.99), (44.56,-3.41)]\nOption D\n  waypoints xy: [(7.24,0.00), (14.56,0.08), (21.95,0.16), (29.39,0.32), (36.88,0.66), (44.43,1.08), (51.99,1.59), (59.54,2.18), (67.07,2.85), (74.58,3.60)]\nOption E\n  waypoints xy: [(7.76,-0.00), (15.52,0.01), (23.28,0.05), (31.02,0.10), (38.75,0.19), (46.48,0.25), (54.19,0.32), (61.89,0.41), (69.58,0.50), (77.27,0.59)]\nOption F\n  waypoints xy: [(2.49,-0.00), (4.61,-0.00), (6.26,0.01), (7.43,0.01), (8.11,0.02), (8.39,0.02), (8.42,0.02), (8.42,0.02), (8.43,0.02), (8.51,0.02)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":4.284492015240834,"cv_gap":12.766}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"A003f6hr8i","cam_id":"4_resize","sample_timestamps":["000000004588_000250000000","000000004588_000500000000","000000004588_000750000000","000000004589_000000000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000004589_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"A003f6hr8i","cam_id":"2","sample_timestamps":["000000004587_000500000000","000000004588_000000000000","000000004588_000500000000","000000004589_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000004589_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"A003f6hr8i","cam_id":"7","sample_timestamps":["000000004587_000500000000","000000004588_000000000000","000000004588_000500000000","000000004589_000000000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000004589_000000000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with an acceleration**. The ego vehicle's current velocity is 12.000 m/s at x-direction and 0.400 m/s at y-direction. The ego vehicle's current acceleration is -2.100 m/s^2 at x-direction and -0.200 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"A003f6hr8i"}},"extra_info":{"index":496,"token":"A003f6hr8i","id":"A003f6hr8i","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(6.03,0.00), (12.05,0.03), (18.05,0.09), (24.02,0.21), (29.98,0.39), (35.91,0.64), (41.83,0.93), (47.75,1.28), (53.67,1.68), (59.59,2.13)]\nOption B\n  waypoints xy: [(2.44,0.53), (4.88,1.55), (7.32,2.95), (9.75,4.65), (12.21,6.57), (14.70,8.64), (17.25,10.79), (19.84,13.00), (22.47,15.24), (25.12,17.47)]\nOption C\n  waypoints xy: [(3.05,0.29), (6.08,1.07), (8.93,2.42), (11.46,4.38), (13.54,6.89), (15.10,9.90), (16.15,13.32), (16.74,17.06), (17.03,21.10), (17.19,25.40)]\nOption D\n  waypoints xy: [(12.67,-0.16), (25.32,-0.56), (38.03,-1.14), (50.84,-2.02), (63.72,-3.24), (76.64,-4.86), (89.53,-6.85), (102.36,-9.17), (115.15,-11.73), (127.88,-14.59)]\nOption E\n  waypoints xy: [(4.63,-0.01), (9.01,-0.02), (13.08,-0.05), (16.78,-0.07), (20.08,-0.10), (22.97,-0.14), (25.44,-0.17), (27.54,-0.20), (29.26,-0.22), (30.66,-0.24)]\nOption F\n  waypoints xy: [(1.16,0.00), (1.84,0.00), (2.12,0.00), (2.15,0.00), (2.15,0.00), (2.14,0.00), (2.14,0.00), (2.13,0.00), (2.11,0.00), (2.13,0.00)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":12.006664815842907,"cv_gap":28.639}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-208/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-208/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/49eb73682e180aff9f960761ec27e62b-208/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a deceleration**. The ego vehicle's current velocity is 9.120 m/s at x-direction and 0.011 m/s at y-direction. The ego vehicle's current acceleration is -0.513 m/s^2 at x-direction and -0.026 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go right, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-208"}},"extra_info":{"index":497,"token":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-208","id":"waymo_e2e::49eb73682e180aff9f960761ec27e62b-208","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(1.63,0.25), (3.31,0.80), (5.01,1.69), (6.63,2.95), (8.13,4.60), (9.47,6.58), (10.67,8.86), (11.75,11.36), (12.73,14.05), (13.64,16.88)]\nOption B\n  waypoints xy: [(6.65,-0.00), (13.33,-0.01), (20.02,-0.03), (26.71,-0.05), (33.38,-0.07), (40.00,-0.09), (46.55,-0.11), (52.99,-0.12), (59.31,-0.13), (65.55,-0.15)]\nOption C\n  waypoints xy: [(1.18,-0.28), (2.39,-0.88), (3.55,-1.86), (4.58,-3.25), (5.40,-5.07), (5.96,-7.30), (6.41,-9.90), (6.93,-12.86), (7.54,-16.26), (8.24,-20.04)]\nOption D\n  waypoints xy: [(4.49,-0.01), (9.05,-0.03), (13.65,-0.04), (18.26,-0.06), (22.89,-0.08), (27.52,-0.09), (32.14,-0.11), (36.74,-0.12), (41.27,-0.12), (45.74,-0.11)]\nOption E\n  waypoints xy: [(2.99,-0.02), (5.77,-0.10), (8.31,-0.32), (10.65,-0.77), (12.79,-1.53), (14.70,-2.67), (16.29,-4.21), (17.49,-6.12), (18.26,-8.35), (18.69,-10.84)]\nOption F\n  waypoints xy: [(5.16,-0.02), (10.39,-0.07), (15.64,-0.13), (20.92,-0.20), (26.21,-0.28), (31.53,-0.35), (36.91,-0.44), (42.35,-0.52), (47.83,-0.60), (53.33,-0.68)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"E","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.120249345746055,"cv_gap":29.255}}
{"data_source":"qwen25vl_v4_remapper_decoded","images":[],"videos":[{"video":{"path":"","asset_id":"HmvoSLR7Z6","cam_id":"4_resize","sample_timestamps":["000000002009_000200000000","000000002009_000700000000","000000002010_000200000000","000000002010_000700000000"],"resolution":[1536,1536],"metadata":{"camera_name":"image_4_resize","keyframe":"000000002010_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HmvoSLR7Z6","cam_id":"2","sample_timestamps":["000000002009_000200000000","000000002009_000700000000","000000002010_000200000000","000000002010_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_2","keyframe":"000000002010_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":{"path":"","asset_id":"HmvoSLR7Z6","cam_id":"7","sample_timestamps":["000000002009_000200000000","000000002009_000700000000","000000002010_000200000000","000000002010_000700000000"],"resolution":[512,512],"metadata":{"camera_name":"image_7","keyframe":"000000002010_000700000000","interval_step":5}},"vl_unified_internal":true,"sample_fps":2.0,"raw_fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 2.100 m/s at x-direction and -0.300 m/s at y-direction. The ego vehicle's current acceleration is -0.100 m/s^2 at x-direction and 0.500 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: Use the three forward-facing camera video streams, ego vehicle state, history trajectory, navigation waypoints, and traffic rules to plan the ego vehicle trajectory for the next five seconds., indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"token":"HmvoSLR7Z6"}},"extra_info":{"index":498,"token":"HmvoSLR7Z6","id":"HmvoSLR7Z6","dataset_name":"qwen25vl_v4_remapper_decoded","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(0.83,0.04), (1.64,0.17), (2.41,0.38), (3.13,0.68), (3.77,1.04), (4.35,1.45), (4.86,1.91), (5.30,2.39), (5.69,2.91), (6.03,3.47)]\nOption B\n  waypoints xy: [(4.05,0.00), (8.09,0.01), (12.08,0.03), (16.03,0.06), (19.92,0.10), (23.72,0.13), (27.42,0.17), (30.99,0.21), (34.42,0.25), (37.68,0.27)]\nOption C\n  waypoints xy: [(4.17,0.03), (8.19,0.11), (12.01,0.23), (15.63,0.38), (19.06,0.57), (22.31,0.79), (25.37,1.07), (28.26,1.40), (30.96,1.77), (33.45,2.19)]\nOption D\n  waypoints xy: [(1.09,-0.03), (2.18,-0.09), (3.26,-0.20), (4.34,-0.32), (5.41,-0.47), (6.48,-0.64), (7.56,-0.83), (8.65,-1.05), (9.75,-1.32), (10.85,-1.64)]\nOption E\n  waypoints xy: [(6.47,0.00), (13.04,0.00), (19.75,0.00), (26.65,0.00), (33.83,-0.08), (41.37,-0.08), (49.25,-0.08), (57.51,-0.08), (66.12,0.02), (75.08,0.11)]\nOption F\n  waypoints xy: [(4.79,-0.00), (9.46,-0.02), (13.97,-0.05), (18.35,-0.08), (22.61,-0.11), (26.77,-0.14), (30.82,-0.19), (34.76,-0.24), (38.59,-0.30), (42.21,-0.37)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"A","option_letters":["A","B","C","D","E","F"],"velocity_norm":2.1213203435596424,"cv_gap":7.018}}
{"data_source":"waymo_e2e_causal","images":[],"videos":[{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-091/front_left/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-091/front/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176},{"video":"media/waymo/2b75e328cf24ada5df567344b03b346a-091/front_right/video.mp4","fps":2.0,"min_pixels":50176,"max_pixels":50176}],"agent_name":"blind_mcq_agent","prompt":[{"role":"system","content":"You are a helpful assistant."},{"role":"user","content":"Video 1 (front-left camera): <video>\nVideo 2 (front camera): <video>\nVideo 3 (front-right camera): <video>\n\nMultiple forward-facing camera streams are mounted on the ego vehicle; the frames above are ordered from oldest to newest.\n\nThe ego vehicle behavior in the recent history is **move forward with a constant speed**. The ego vehicle's current velocity is 9.740 m/s at x-direction and 0.008 m/s at y-direction. The ego vehicle's current acceleration is -0.432 m/s^2 at x-direction and -0.066 m/s^2 at y-direction. The current driving command instruction of ego vehicle is: go straight, indicating the intended route direction. Note that the left and right driving commands cover turns, lane changes and sharp curves driving behavior.\n\nTrajectory coordinates are in meters in the ego frame: +x is forward, +y is to the left. Plan the ego's 5-second future motion (t = 0.5s .. 5.0s).\n\nThis is a multiple-choice problem, but solve it in TWO option-independent parts. In Part 1 reason CAUSALLY, as if you must plan the ego trajectory yourself; ignore that options exist until Part 2. Use only history-visible evidence; never cite unseen future events.\n\nPART 1 — PLAN (no options are shown to you; plan the ego maneuver from the scene alone)\nIn 1-2 concise sentences each:\n1. Evidence: from the history-visible scene, identify only the few facts that causally constrain the future motion -- the road/route structure and any element whose state changes what the ego can safely, legally, or feasibly do next.\n2. Causal chain: for each constraint reason  scene -> consequence (what becomes unsafe, illegal, infeasible, or off-route) -> the maneuver it forces. Treat the ego's CURRENT motion (its speed and acceleration) as only the starting condition to be acted upon, NEVER as evidence that the motion should continue unchanged: the plan follows from the scene, not from the current velocity. Unless the scene positively shows that continuing unchanged is safe and on-route, let the constraints -- not the momentum -- decide the maneuver.\n3. SPEED first, and firmly: decide whether to keep speed, slow, or stop from the hazards alone (signals, a lead or stopped vehicle, a crossing agent, a stop line, a tight curve or intersection). This decision holds REGARDLESS of which way the road goes -- never default to holding speed just because the path looks clear or because you are unsure where the road leads.\n4. DIRECTION only as far as the evidence supports: if the route geometry is genuinely ambiguous -- the road may continue straight OR curve / turn / lead into a side road and the history alone cannot settle which -- do NOT force a single guess; name the 1-2 plausible directions and leave the final pick to the candidate geometry in Part 2. Do not invent or compute hypothetical trajectories here; just state which directions are in play. When the evidence DOES settle the direction, commit to it.\nThen commit to a high-level decision on its own line in EXACTLY this format:\nHIGH_LEVEL_DECISION: <speed profile, committed firmly (e.g. decelerate to a stop / hold ~Xm/s / slow then proceed) + direction: either a single direction if the evidence settles it, or '<dir A> or <dir B> (resolve in Part 2)' if the route geometry is genuinely ambiguous; one sentence, with the main cause>\n"}],"reward_model":{"style":"rule","ground_truth":{"oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-091"}},"extra_info":{"index":499,"token":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-091","id":"waymo_e2e::2b75e328cf24ada5df567344b03b346a-091","dataset_name":"waymo_e2e_causal","options_prompt":"PART 2 — OPTION MATCH (only now use the options)\nBelow are the candidate future trajectories. Exactly one is the best choice.\nOption A\n  waypoints xy: [(4.87,-0.00), (9.72,0.01), (14.54,0.02), (19.35,0.03), (24.18,0.05), (29.03,0.06), (33.93,0.07), (38.87,0.07), (43.83,0.06), (48.81,0.06)]\nOption B\n  waypoints xy: [(5.39,0.00), (10.94,0.02), (16.64,0.03), (22.49,0.05), (28.46,0.09), (34.51,0.12), (40.64,0.16), (46.80,0.20), (52.96,0.24), (59.13,0.26)]\nOption C\n  waypoints xy: [(9.36,0.03), (18.76,0.12), (28.18,0.27), (37.62,0.49), (47.05,0.75), (56.46,1.09), (65.85,1.46), (75.22,1.88), (84.56,2.34), (93.87,2.82)]\nOption D\n  waypoints xy: [(1.27,0.62), (2.33,1.61), (3.07,2.93), (3.37,4.47), (3.20,6.10), (2.68,7.72), (1.95,9.32), (1.13,10.93), (0.21,12.63), (-0.81,14.46)]\nOption E\n  waypoints xy: [(0.54,0.00), (1.37,0.03), (2.45,0.17), (3.72,0.54), (5.07,1.27), (6.35,2.48), (7.40,4.19), (8.07,6.34), (8.40,8.86), (8.58,11.67)]\nOption F\n  waypoints xy: [(4.03,-0.03), (7.25,-0.08), (9.87,-0.13), (11.88,-0.17), (13.28,-0.19), (14.02,-0.21), (14.32,-0.21), (14.34,-0.21), (14.35,-0.20), (14.35,-0.20)]\n\nPick the candidate that realizes your HIGH_LEVEL_DECISION. Your committed SPEED profile (keep speed / slow / stop) is binding: rule out any candidate inconsistent with it. If Part 1 left the DIRECTION tentative, use the candidate waypoint geometry to settle which of the directions you flagged is correct; if Part 1 settled the direction, keep it. Do not revise Part 1's speed decision to fit an option.\nEnd your answer with a final line in EXACTLY this format (nothing after it):\nFINAL_CHOICE: <one letter from [A, B, C, D, E, F]>\n","oracle_letter":"F","option_letters":["A","B","C","D","E","F"],"velocity_norm":9.739676368618017,"cv_gap":35.09}}