Datasets:

ibarcelo
/

Automingo_dataset

scene_id string	situation string	question string	ground_truth_answer string	ground_truth_reasoning string	time_span list
construction_site_10	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	There is a construction red and white fence clearly indicating that we are near a construction site	[ -2, -1, 0, 1, 2 ]
construction_site_10	Construction site	Are temporary yellow lane markings visible?	No	No temporary yellow lines are visible but neither usual white ones	[ -2, -1, 0, 1, 2 ]
construction_site_10	Construction site	Are road workers visible on or near the roadway?	No	There are no visible road workers near the scene only red and white construction scene	[ -2, -1, 0, 1, 2 ]
construction_site_10	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	The ego lane is narrowed due to the presence of a construction fence	[ -2, -1, 0, 1, 2 ]
construction_site_10	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	No construction machinery is visible near the cene	[ -2, -1, 0, 1, 2 ]
construction_site_10	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	There is not a speed limit sign visible just some trees and red and white construction fence	[ -2, -1, 0, 1, 2 ]
construction_site_11	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	There are red and white construction fences that clearly indcate a construction site	[ -2, -1, 0, 1, 2 ]
construction_site_11	Construction site	Are temporary yellow lane markings visible?	No	No temporary yellow lanes are visible but neither white normal ones	[ -2, -1, 0, 1, 2 ]
construction_site_11	Construction site	Are road workers visible on or near the roadway?	No	No road workers are visible near the roadway	[ -2, -1, 0, 1, 2 ]
construction_site_11	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	No	The ego lane is narrowed using a red and white construction fence on the left	[ -2, -1, 0, 1, 2 ]
construction_site_11	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	There is no machinery or heavy equipment near the roadway	[ -2, -1, 0, 1, 2 ]
construction_site_11	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	There is not a reduced speed limit signal visible in the scene.	[ -2, -1, 0, 1, 2 ]
construction_site_14	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	Yes, It can be seen in front ego vehicle some temporal white and red fences	[ -2, -1, 0, 1, 2 ]
construction_site_14	Construction site	Are temporary yellow lane markings visible?	No	No, the lanes are the normal ones. One white lane dividing the ego lane with the opposite direction lane	[ -2, -1, 0, 1, 2 ]
construction_site_14	Construction site	Are road workers visible on or near the roadway?	No	The street and the situations are empty of pedestrians	[ -2, -1, 0, 1, 2 ]
construction_site_14	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	The ego lane is closed due to the front fences in front ego vehicle	[ -2, -1, 0, 1, 2 ]
construction_site_14	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	No, there is a lateral parked truck on left side	[ -2, -1, 0, 1, 2 ]
construction_site_14	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	It is an urban street without traffic signals	[ -2, -1, 0, 1, 2 ]
construction_site_15	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	Yes, there are some temporal fences in right side with red and white signal	[ -2, -1, 0, 1, 2 ]
construction_site_15	Construction site	Are temporary yellow lane markings visible?	No	There are no lanes in the street	[ -2, -1, 0, 1, 2 ]
construction_site_15	Construction site	Are road workers visible on or near the roadway?	No	No, the street is completely empty of people in this moment	[ -2, -1, 0, 1, 2 ]
construction_site_15	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	There are construction material on left side of the ego lane	[ -2, -1, 0, 1, 2 ]
construction_site_15	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	Yes	There are construction material on left side of the ego lane	[ -2, -1, 0, 1, 2 ]
construction_site_15	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	In this singular street there are not traffic signals	[ -2, -1, 0, 1, 2 ]
construction_site_16	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	There are temporal red and white barriers on left side of the street. Also there are 2 signals with yellow background that are form construction site	[ -2, -1, 0, 1, 2 ]
construction_site_16	Construction site	Are temporary yellow lane markings visible?	Yes	Are velocity traffic signal with yellow background	[ -2, -1, 0, 1, 2 ]
construction_site_16	Construction site	Are road workers visible on or near the roadway?	No	The street has nobody around the fences or the ego lane	[ -2, -1, 0, 1, 2 ]
construction_site_16	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	There are on the right lane some plastic fences reducing the lane width	[ -2, -1, 0, 1, 2 ]
construction_site_16	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	Yes	There is a tractor on right side behind the red and white plastic barrier	[ -2, -1, 0, 1, 2 ]
construction_site_16	Construction site	Is a temporary reduced speed limit sign visible in the scene?	Yes	it can be seen a 30 kph yellow signal on right side of ego lane	[ -2, -1, 0, 1, 2 ]
construction_site_17	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	there are on right part of ego lane some temporal red and white barriers and also some yellow traffic signals	[ -2, -1, 0, 1, 2 ]
construction_site_17	Construction site	Are temporary yellow lane markings visible?	No	There are not yellow or orange traffic lines	[ -2, -1, 0, 1, 2 ]
construction_site_17	Construction site	Are road workers visible on or near the roadway?	No	All the street is completely empty from pedestrians	[ -2, -1, 0, 1, 2 ]
construction_site_17	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	the ego lane is reduce it due to lateral temporal construction barrier	[ -2, -1, 0, 1, 2 ]
construction_site_17	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	Yes	there is one tractor on left side of ego lane	[ -2, -1, 0, 1, 2 ]
construction_site_17	Construction site	Is a temporary reduced speed limit sign visible in the scene?	Yes	it can be seen a yellow temporal 20 kph signal at the beginning of the lane with the construction situation	[ -2, -1, 0, 1, 2 ]
construction_site_18	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	Orange cones and temporary yellow warning signs are present along the roadway.	[ -2, -1, 0, 1, 2 ]
construction_site_18	Construction site	Are temporary yellow lane markings visible?	No	There are no temporary yellow lines visible	[ -2, -1, 0, 1, 2 ]
construction_site_18	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	No	The ego lane remains the same with no changes	[ -2, -1, 0, 1, 2 ]
construction_site_18	Construction site	Is there any physical object indicating the presence of a construction site nearby (construction machinery, heavy equipment, construction fences...)?	Yes	Construction fences and signals are visible	[ -2, -1, 0, 1, 2 ]
construction_site_18	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	There are no temporary reduced speed limits visible	[ -2, -1, 0, 1, 2 ]
construction_site_19	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	Yellow lane markings and fences are present along the roadway.	[ -2, -1, 0, 1, 2 ]
construction_site_19	Construction site	Are temporary yellow lane markings visible?	Yes	Yellow lane lines are visible, indicating a temporary traffic layout.	[ -2, -1, 0, 1, 2 ]
construction_site_19	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	The lane markings shift to the left.	[ -2, -1, 0, 1, 2 ]
construction_site_19	Construction site	Is there any physical object indicating the presence of a construction site nearby (construction machinery, heavy equipment, construction fences...)?	Yes	There are fences visible to the left of the ego lane	[ -2, -1, 0, 1, 2 ]
construction_site_19	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	There are no speed limits visible ahead	[ -2, -1, 0, 1, 2 ]
construction_site_3	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	There is a vertical yellow sign on the left indicating that left lane will merge. The lines on the floor are yellow and there is a red and white fence on the right side of the ego lane	[ -2, -1, 0, 1, 2 ]
construction_site_3	Construction site	Are temporary yellow lane markings visible?	Yes	There are not yellow lane markings everywhere but there is a mix of the common white lane markings and temporary yellow ones	[ -2, -1, 0, 1, 2 ]
construction_site_3	Construction site	Are road workers visible on or near the roadway?	No	There is nobody working	[ -2, -1, 0, 1, 2 ]
construction_site_3	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	The lane markings in yellow together with the vertical sign on the left indicate that ego lane suffers a small modification ahead	[ -2, -1, 0, 1, 2 ]
construction_site_3	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	Red and white fences are present together with temporary yellow marks but no construction equipment is present	[ -2, -1, 0, 1, 2 ]
construction_site_3	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	Speed should not be modified and no signals are present	[ -2, -1, 0, 1, 2 ]
construction_site_4	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	There are yellow lane markings on the floor together with red and white fences on the left	[ -2, -1, 0, 1, 2 ]
construction_site_4	Construction site	Are temporary yellow lane markings visible?	Yes	They delimit lanes and directions	[ -2, -1, 0, 1, 2 ]
construction_site_4	Construction site	Are road workers visible on or near the roadway?	No	There are pedestrians close to the construction site on the left side	[ -2, -1, 0, 1, 2 ]
construction_site_4	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	No	It is not clear which were the ego lane markings before works but the new yellow ones are not particularly narrow	[ -2, -1, 0, 1, 2 ]
construction_site_4	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	Yes	There are two yellow tall cranes on the left side next to the red and white fence	[ -2, -1, 0, 1, 2 ]
construction_site_4	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	Speed is not affected	[ -2, -1, 0, 1, 2 ]
construction_site_6	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	There are yellow lane markings and small sticks on the left and a red and white fence on the right	[ -2, -1, 0, 1, 2 ]
construction_site_6	Construction site	Are temporary yellow lane markings visible?	Yes	They are present but only delimit ego lane, they do not indicate direction or speed	[ -2, -1, 0, 1, 2 ]
construction_site_6	Construction site	Are road workers visible on or near the roadway?	No	There are no pedestrians or workers visible	[ -2, -1, 0, 1, 2 ]
construction_site_6	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	There is a short zigzag movement at the beginning but later the trajectory is straight forward	[ -2, -1, 0, 1, 2 ]
construction_site_6	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	Only big fences in red and white are present	[ -2, -1, 0, 1, 2 ]
construction_site_6	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	Speed is not affected	[ -2, -1, 0, 1, 2 ]
construction_site_7	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	construction-related yellow signs, movable red and white barriers, and temporary lanes are visible in the scene	[ -2, -1, 0, 1, 2 ]
construction_site_7	Construction site	Are temporary yellow lane markings visible?	Yes	Yellow lane lines become visible towards the end of the sequence, indicating a temporary traffic layout	[ -2, -1, 0, 1, 2 ]
construction_site_7	Construction site	Are road workers visible on or near the roadway?	No	no persons are visible at all	[ -2, -1, 0, 1, 2 ]
construction_site_7	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	After the right turn there are temporary lane markings which appear to be quite narrow. After the turn, red and white movable barriers on the left limit the overall size of the lanes	[ -2, -1, 0, 1, 2 ]
construction_site_7	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	No construction related heavy equipment is evident	[ -2, -1, 0, 1, 2 ]
construction_site_7	Construction site	Is a temporary reduced speed limit sign visible in the scene?	Yes	A temporary yellow 20 speed limit sign is posted on the right before the work zone, together with a couple of other yellow temporary warning signs.	[ -2, -1, 0, 1, 2 ]
construction_site_8	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	red and white movable plastic barriers are visible on the left which are separating the lane from the opposite lane. On the right, there is a white metal fence which is quite typical for construction sites.	[ -2, -1, 0, 1, 2 ]
construction_site_8	Construction site	Are temporary yellow lane markings visible?	No	no lane lines are visible at all	[ -2, -1, 0, 1, 2 ]
construction_site_8	Construction site	Are road workers visible on or near the roadway?	No	the only visible person is a motor cyclist dressed in black with a black helmet.	[ -2, -1, 0, 1, 2 ]
construction_site_8	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	No	the ego lane does not look narrow and no lateral shifting is evident	[ -2, -1, 0, 1, 2 ]
construction_site_8	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	No construction related heavy equipment is evident	[ -2, -1, 0, 1, 2 ]
construction_site_8	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	no temporary reduced speed limit sign is visible but in the last frame a triangular yellow construction-related is visible	[ -2, -1, 0, 1, 2 ]
construction_site_9	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	red and white movable plastic barriers are visible which are limiting the lane towards both sides, also some temporary signals and a yellow signal light	[ -2, -1, 0, 1, 2 ]
construction_site_9	Construction site	Are temporary yellow lane markings visible?	No	no lane lines are visible at all, the lane surface looks rough and dirty in comparison to a finished asphalt layer	[ -2, -1, 0, 1, 2 ]
construction_site_9	Construction site	Are road workers visible on or near the roadway?	No	no persons are visible at all	[ -2, -1, 0, 1, 2 ]
construction_site_9	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	Yes	the ego lane narrows towards the end of the sequence and is also shifted laterally throughout the course of the sequence	[ -2, -1, 0, 1, 2 ]
construction_site_9	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	No construction related heavy equipment is evident. The leading pick up truck might be related to a construction site but it is not clear from the images	[ -2, -1, 0, 1, 2 ]
construction_site_9	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	no temporary reduced speed limit signs are visible but two other construction-related signs indicating that the lane is shifting towards the right	[ -2, -1, 0, 1, 2 ]
empty_636	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	Construction-related warning signs are visible, indicating an upcoming work zone.	[ -2, -1, 0, 1, 2 ]
empty_636	Construction site	Are temporary yellow lane markings visible?	No	There are no temporary yellow lane markings visible yet, only standard road markings.	[ -2, -1, 0, 1, 2 ]
empty_636	Construction site	Are road workers visible on or near the roadway?	No	No workers are visible on or near the roadway.	[ -2, -1, 0, 1, 2 ]
empty_636	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	No	The ego lane maintains its normal width and alignment, with no cones or barriers affecting it.	[ -2, -1, 0, 1, 2 ]
empty_636	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	No construction machinery or heavy equipment is visible.	[ -2, -1, 0, 1, 2 ]
empty_636	Construction site	Is a temporary reduced speed limit sign visible in the scene?	Yes	A speed limit sign is visible, and in the context of construction signage it indicates a temporary reduced speed limit.	[ -2, -1, 0, 1, 2 ]
empty_637	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	Construction-related warning signs are visible, indicating an upcoming work zone.	[ -2, -1, 0, 1, 2 ]
empty_637	Construction site	Are temporary yellow lane markings visible?	No	There are no temporary yellow lane markings visible yet, only standard road markings.	[ -2, -1, 0, 1, 2 ]
empty_637	Construction site	Are road workers visible on or near the roadway?	No	No workers are visible on or near the roadway.	[ -2, -1, 0, 1, 2 ]
empty_637	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	No	The ego lane maintains its normal width and alignment, with no cones or barriers affecting it.	[ -2, -1, 0, 1, 2 ]
empty_637	Construction site	Is construction machinery or heavy equipment present near or within the roadway?	No	No construction machinery or heavy equipment is visible.	[ -2, -1, 0, 1, 2 ]
empty_637	Construction site	Is a temporary reduced speed limit sign visible in the scene?	Yes	A 40km/h speed limit sign is visible, and in the context of construction signage it indicates a temporary reduced speed limit.	[ -2, -1, 0, 1, 2 ]
empty_815	Construction site	Are construction-related signs, cones, temporary signals, or closed lanes visible in the scene?	Yes	There is a yellow sign to the right indicating a construction area	[ -2, -1, 0, 1, 2 ]
empty_815	Construction site	Are temporary yellow lane markings visible?	No	There are no temporary yellow lines	[ -2, -1, 0, 1, 2 ]
empty_815	Construction site	Is the ego lane narrowed or laterally shifted due to construction elements?	No	The ego lane does not change	[ -2, -1, 0, 1, 2 ]
empty_815	Construction site	Is there any physical object indicating the presence of a construction site nearby (construction machinery, heavy equipment, construction fences...)?	Yes	A yellow traffic sign to the right of the ego lane	[ -2, -1, 0, 1, 2 ]
empty_815	Construction site	Is a temporary reduced speed limit sign visible in the scene?	No	There are no temporary speed limits visible	[ -2, -1, 0, 1, 2 ]
crossing_object_10	Crossing object	Is there any discontinuity in the ego lane ahead?	No	Ego lane continues but encounters a crosswalk with a crossing pedestrian	[ -2, -1, 0, 1, 2 ]

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Automingo-VQA

Automingo-VQA is a vision-language dataset for safety-critical autonomous driving scene understanding. It is designed for Visual Question Answering (VQA), event-level reasoning, and structured analysis of ADAS-relevant traffic scenarios.

The dataset focuses on real-world driving situations aligned with Euro NCAP-related safety scenarios, including cut-ins, traffic light transitions, vulnerable road user interactions, braking conflicts, construction zones, intersections, roundabouts, and speed limit adaptation.

Each sample is built around a driving event or an empty/negative segment and contains temporally structured front-camera frames paired with expert-annotated questions, answers, and reasoning.

Dataset Details

Automingo-VQA contains:

6,565 real-world driving images
1,313 events
771 safety-critical events
542 empty / negative events
5,792 question-answer pairs
Five temporally sampled frames per event
Expert-annotated answers and reasoning
Multiple-choice validation examples
Anonymised faces and license plates

The data were collected in and around the Madrid metropolitan area, Spain, using front-facing egocentric vehicle cameras.

Scenarios

The dataset covers the following scenario categories:

Abbreviation	Scenario
CI	Cut-In
TL	Traffic Light
VRU	Vulnerable Road User
ML	Merging Lane
LPC	Lateral Parked Car
LB	Leading Braking
CS	Construction Site
CO	Crossing Object
IS	Intersection
RA	Roundabout
SLA	Speed Limit Adaptation

Intended Uses

This dataset is intended for:

Visual Question Answering in autonomous driving
Vision-Language Model training and evaluation
ADAS perception analysis
Safety-critical traffic scene understanding
Event-level driving reasoning
Benchmarking multimodal models on structured driving scenarios

Out-of-Scope Uses

This dataset should not be used for:

Identifying people, vehicles, or license plates
Deanonymisation attempts
Surveillance applications
Automated legal, insurance, or enforcement decisions
Deployment as the sole validation source for safety-critical autonomous driving systems

Limitations

Automingo-VQA is focused on a defined set of ADAS-relevant scenarios and should not be considered a complete representation of all possible driving situations.

Known limitations include:

Single front-facing camera perspective
Data collected mainly around Madrid, Spain
Limited coverage of weather, lighting, and geographic diversity
Potential ambiguity in complex scenarios such as roundabouts and intersections
Possible residual annotation or distractor-generation errors

Paper

This dataset is associated with the paper:

Automingo: Seeing the Unseen - Vision-Language Edge Case Dataset for Detection and Analysis of Autonomous Driving

Paper URL: https://openaccess.thecvf.com/content/CVPR2026W/AUTOPILOT/papers/Divis_Automingo_Seeing_the_Unseen_-_Vision-Language_Edge_Case_Dataset_for_CVPRW_2026_paper.pdf

Authors

Václav Diviš
Íñigo Barceló Álvarez
Alejandro Fariñas Nubla
Enrique Sánchez
Antonio Hernández-Ros Briales
Ondřej Valach
Ivan Gruber
Marek Hruž

Affiliations

ARRK Engineering GmbH
University of West Bohemia, Faculty of Applied Sciences, Department of Cybernetics and New Technologies for the Information Society

License

This dataset is released under the Creative Commons Attribution 4.0 International License (CC BY 4.0).

You are free to share, copy, redistribute, adapt, transform, and build upon the dataset for any purpose, including commercial use, provided that appropriate credit is given to the original authors.

License: https://creativecommons.org/licenses/by/4.0/

Citation

If you use this dataset in your research, product development, benchmark, model training, evaluation pipeline, or any derived work, please cite the associated paper:

@inproceedings{Divis_2026_CVPR,
  title     = {Automingo: Seeing the Unseen - Vision-Language Edge Case Dataset for Detection and Analysis of Autonomous Driving},
  author    = {Diviš, Václav and Barceló Álvarez, Íñigo and Fariñas Nubla, Alejandro and Sánchez, Enrique and Hernández-Ros Briales, Antonio and Valach, Ondřej and Gruber, Ivan and Hruž, Marek},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
  month     = {June},
  year      = {2026},
  pages     = {665-674}
}

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