Datasets:

kir0504
/

anonymous-clear-drive

This repository provides an anonymized review-only sample of CLEAR-Drive, an autonomous-driving causal reasoning dataset introduced in the submitted paper.

CLEAR-Drive is designed to improve the logical judgment ability of driving-oriented vision-language models. It constructs positive--negative sample pairs from Chain-of-Causality (CoC) reasoning, where the positive sample represents a causally valid reasoning trace and the negative sample is produced by minimally perturbing the causal inference process to introduce a targeted logical error. These pairs are intended for preference-based training, such as DPO/MPO-style optimization.

This repository is provided only to help reviewers inspect the data format, sample quality, and construction protocol. It is not the full dataset release.

Repository Contents

.
├── README.md
├── data_image_recogdrive.zip
└── sample_mpo_recogdrive.jsonl

data_image_recogdrive.zip

This archive contains the anonymized image files corresponding to the provided ReCogDrive sample entries. The images are included only for review and format inspection.

sample_mpo_recogdrive.jsonl

This file contains representative positive--negative sample pairs derived from ReCogDrive-style autonomous-driving scenes. Each line is a JSON object describing one training example.

The core fields include:

image: the image paths.
question: the question given to the model.
chosen: the preferred response, corresponding to the positive CoC reasoning sample.
rejected: the dispreferred response, corresponding to the negative sample with a targeted causal-logic error.
answer_gt: the ground truth answer.

Downloads last month: 28

image listlengths 1 6	question stringclasses 7 values	chosen stringlengths 543 1.46k	rejected stringlengths 443 1.52k	answer_gt stringlengths 543 1.46k
[ "CODA-LM/images/0665.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the scaffolded construction zone narrows the road to a single lane, reducing lateral space and requiring precise lane keeping, and as the secondary factor, the wh...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the white sedan ahead occupies the lane and creates a current car-following conflict, with its lane position setting the spacing requirement that bounds the ego vehi...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the scaffolded construction zone narrows the road to a single lane, reducing lateral space and requiring precise lane keeping, and as the secondary factor, the wh...
[ "CODA-LM/images_w_boxes/3778_object_4.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and steer slightly left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, two reflective delineators on the drivable roadway ahead narrow the usable path, reducing the safety margin and constraining ego's speed and lateral position fo...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the road ahead appears open with no visible vehicle directly blocking the lane center, which leaves the forward path mostly open with low-severity safety-margin r...	The ego vehicle should gently decelerate and steer slightly left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, two reflective delineators on the drivable roadway ahead narrow the usable path, reducing the safety margin and constraining ego's speed and lateral position fo...
[ "CODA-LM/images/0354.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the lead sedan ahead in the same lane creates a current occupancy conflict, limiting ego's speed to maintain a safe following distance. As a secondary factor, str...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the lead sedan ahead in the same lane creates a current occupancy conflict that mainly bounds ego's speed by the lead vehicle's pace through following-distance contr...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the lead sedan ahead in the same lane creates a current occupancy conflict, limiting ego's speed to maintain a safe following distance. As a secondary factor, str...
[ "CODA-LM/images_w_boxes/1461_object_1.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large cement mixer truck ahead in the ego lane reduces the forward safety margin by occupying space and limiting visibility, constraining speed and following di...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large cement mixer truck ahead in the ego lane reduces the forward safety margin with medium severity by occupying space and limiting visibility, constraining s...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large cement mixer truck ahead in the ego lane reduces the forward safety margin by occupying space and limiting visibility, constraining speed and following di...
[ "CODA-LM/images_w_boxes/1879_object_1.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a cyclist traveling near the right edge close to a parked work truck creates a medium-severity future conflict due to potential path deviation, restricting ego's ...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a cement mixer truck directly ahead in the ego lane creates a low-severity future conflict through forward lane occupancy, mildly restricting ego's speed to prese...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a cyclist traveling near the right edge close to a parked work truck creates a medium-severity future conflict due to potential path deviation, restricting ego's ...
[ "CODA-LM/images_w_boxes/4338_object_2.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, two construction workers near the roadside work area adjacent to the lane reduce the safety margin, requiring a slower speed to maintain safety. As the secondary ...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the construction zone with barriers and rubble near the lane edge reduces maneuvering space with low severity, which mainly constrains lateral maneuvering and result...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, two construction workers near the roadside work area adjacent to the lane reduce the safety margin, requiring a slower speed to maintain safety. As the secondary ...
[ "CODA-LM/images/1360.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a cone-marked utility cart is stationary at the right edge of the roadway, partially encroaching into the lane, reducing the safety margin for passing and necessitating ...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a car ahead in the lane has visible tail lights and is traveling in the same direction, creating a low-severity future pacing conflict that bounds feasible longit...	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a cone-marked utility cart is stationary at the right edge of the roadway, partially encroaching into the lane, reducing the safety margin for passing and necessitating ...
[ "CODA-LM/images_w_boxes/3658_object_2.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and steer slightly left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large utility truck is stopped along the right curb, narrowing the drivable area and reducing the safety margin, requiring ego to steer slightly left. As the ...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a bus is ahead in the same lane, requiring ego to maintain a safe following distance, which primarily constrains speed and supports continuing essentially straigh...	The ego vehicle should gently decelerate and steer slightly left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large utility truck is stopped along the right curb, narrowing the drivable area and reducing the safety margin, requiring ego to steer slightly left. As the ...
[ "CODA-LM/images/1813.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the continuous tall blue roadside construction fence along the right edge significantly narrows the drivable corridor, reducing lateral maneuvering space and requ...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the white SUV directly ahead in the same lane occupies the forward path, so its path occupancy sets the immediate following pace and constrains ego's speed to follow...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the continuous tall blue roadside construction fence along the right edge significantly narrows the drivable corridor, reducing lateral maneuvering space and requ...
[ "CODA-LM/images/0720.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the white pickup truck ahead in the ego lane constrains ego's forward motion by setting the pace, limiting ego's speed to align with the lead vehicle. As the seco...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the white pickup truck ahead in the ego lane constrains ego's forward motion by setting the pace, bounding ego's speed by the lead vehicle while leaving the path ahe...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the white pickup truck ahead in the ego lane constrains ego's forward motion by setting the pace, limiting ego's speed to align with the lead vehicle. As the seco...
[ "CODA-LM/images/1162.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large tanker truck is stopped partially within the right travel lane, marked by cones and connected to a roadside hose, reducing the usable lane width and constraining...	The ego vehicle should maintain speed and steer left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large tanker truck is stopped partially within the right travel lane, creating a medium safety-margin reduction because its partial lane occupation narrows the path and s...	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large tanker truck is stopped partially within the right travel lane, marked by cones and connected to a roadside hose, reducing the usable lane width and constraining...
[ "CODA-LM/images_w_boxes/3965_object_4.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight while maintaining a cautious speed to navigate the constrained space and avoid conflicts. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large green dump truck traveling very close to the left side of the ego...	The ego vehicle should gently decelerate and continue straight behind the scooters while maintaining a cautious speed because of roadside activity. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, two scooters traveling ahead of the ego vehicle occupy the center-right of the...	The ego vehicle should gently decelerate and continue straight while maintaining a cautious speed to navigate the constrained space and avoid conflicts. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large green dump truck traveling very close to the left side of the ego...
[ "CODA-LM/images_w_boxes/3730_object_2.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large crane truck occupying the right side of the road narrows the usable lane width, reducing maneuvering space and requiring slower speeds for safe passage. As the s...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large red dump truck near the right edge of the road reduces lateral clearance with low severity, compressing the lateral buffer space and mildly constraining ego'...	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large crane truck occupying the right side of the road narrows the usable lane width, reducing maneuvering space and requiring slower speeds for safe passage. As the s...
[ "CODA-LM/images_w_boxes/4162_object_1.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, large construction vehicles parked close to both road edges narrow the drivable corridor, reducing maneuvering space and requiring slower speeds and precise later...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, an oncoming white car is approaching in the opposite lane ahead, which creates a low-severity future passing interaction because it appears contained to its lane, so...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, large construction vehicles parked close to both road edges narrow the drivable corridor, reducing maneuvering space and requiring slower speeds and precise later...
[ "CODA-LM/images/1837.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, construction vehicles and equipment parked along both sides of the road narrow the usable corridor, reducing lateral clearance and limiting maneuvering space, req...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a white SUV stopped near the left roadside ahead creates a low-severity potential future conflict because its position may slightly reduce left-side clearance, leavi...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, construction vehicles and equipment parked along both sides of the road narrow the usable corridor, reducing lateral clearance and limiting maneuvering space, req...
[ "CODA-LM/images_w_boxes/4580_object_8.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the cones and active construction zone on the right reduce the usable road width, creating a narrower passage that constrains ego's speed and lateral position for safe n...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the small utility vehicle directly ahead in ego's lane occupies the path, requiring ego to match its slow speed to avoid a collision, which constrains forward spe...	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the cones and active construction zone on the right reduce the usable road width, creating a narrower passage that constrains ego's speed and lateral position for safe n...
[ "CODA-LM/images/3773.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the narrow unpaved road through the construction zone with heavy trucks ahead reduces maneuvering space, necessitating slower speeds and precise lane positioning....	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the large truck near the center of the temporary road corridor ahead partially blocks the forward path, causing a current conflict that mildly constrains ego's forwa...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the narrow unpaved road through the construction zone with heavy trucks ahead reduces maneuvering space, necessitating slower speeds and precise lane positioning....
[ "CODA-LM/images/2269.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the small flatbed truck angled across the open paved area ahead creates a direct conflict by occupying the ego's forward path, restricting forward motion to yield...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, pedestrians near the traffic space present a medium-severity risk of future conflict, reducing ego's stopping margin and bounding speed while leaving the forward pat...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the small flatbed truck angled across the open paved area ahead creates a direct conflict by occupying the ego's forward path, restricting forward motion to yield...
[ "CODA-LM/images_w_boxes/2068_object_4.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and steer slightly left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a blue cargo box located on the right edge of the ego lane creates an immediate path conflict by occupying part of the drivable area and restricting the ego veh...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a white van stopped at the curbside with its rear doors open suggests unloading activity, creating a medium-severity potential for future conflict due to possible...	The ego vehicle should gently decelerate and steer slightly left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a blue cargo box located on the right edge of the ego lane creates an immediate path conflict by occupying part of the drivable area and restricting the ego veh...
[ "CODA-LM/images_w_boxes/4654_object_3.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should stop and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a concrete mixer truck is directly ahead in ego's lane, blocking the forward path, forming a current conflict by occupying the lane, which restricts ego's forward motion and r...	The ego vehicle should strongly decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a stop sign is visible on the right side of the intersection, forming a normative constraint by mandating a stop, which restricts ego's motion to a brief stop b...	The ego vehicle should stop and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a concrete mixer truck is directly ahead in ego's lane, blocking the forward path, forming a current conflict by occupying the lane, which restricts ego's forward motion and r...
[ "CODA-LM/images_w_boxes/1946_object_1.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the temporary roadside structure and cones narrow the right side of the lane, reducing maneuvering space and requiring speed reduction. As the secondary factor, l...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, low visibility from nighttime darkness, wet-road reflections, and oncoming headlight glare creates a high-severity safety-margin reduction by obscuring the forwar...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the temporary roadside structure and cones narrow the right side of the lane, reducing maneuvering space and requiring speed reduction. As the secondary factor, l...
[ "CODA-LM/images/2414.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a scooter traveling very close to the ego vehicle on the left reduces lateral clearance, restricting the ego's maneuvering space and speed. As the secondary facto...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a long green construction fence on the right reduces lateral space with low severity, narrowing maneuvering options on that side while leaving the forward path gener...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a scooter traveling very close to the ego vehicle on the left reduces lateral clearance, restricting the ego's maneuvering space and speed. As the secondary facto...
[ "CODA-LM/images/2915.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should stop and continue straight. A dog is occupying the drivable lane in the immediate foreground, forcing an immediate stop. As the primary factor, a dog is positioned across the drivable lane in the immediate foreground, forming a current conflict by blocking the path and restricting ego's ability t...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a pedestrian is walking near the left edge of the lane close to a parked white SUV, forming a medium-severity future conflict due to the risk of stepping into the...	The ego vehicle should stop and continue straight. A dog is occupying the drivable lane in the immediate foreground, forcing an immediate stop. As the primary factor, a dog is positioned across the drivable lane in the immediate foreground, forming a current conflict by blocking the path and restricting ego's ability t...
[ "CODA-LM/images_w_boxes/0829_object_5.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, temporary barricades and cones ahead narrow the drivable path, reducing maneuvering space and requiring slower speed and careful alignment. As the secondary facto...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a dark sedan directly ahead in the ego lane sets the immediate pace, requiring ego to maintain a safe following distance. As the secondary factor, the wet and reflec...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, temporary barricades and cones ahead narrow the drivable path, reducing maneuvering space and requiring slower speed and careful alignment. As the secondary facto...
[ "CODA-LM/images_w_boxes/2122_object_3.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should strongly decelerate and continue straight, reducing speed, maintaining a centered path through the guided lane, and preparing to stop at the red signal. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, reflective barricades and warning boards ahead nar...	The ego vehicle should gently decelerate and continue straight, going straight while decelerating toward a stop for the red signal. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a red traffic signal ahead mandates stopping, requiring deceleration and preparation to stop. ...	The ego vehicle should strongly decelerate and continue straight, reducing speed, maintaining a centered path through the guided lane, and preparing to stop at the red signal. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, reflective barricades and warning boards ahead nar...
[ "CODA-LM/images_w_boxes/3099_object_3.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a series of traffic cones narrows the right lane, reducing maneuvering space and requiring slower, precise alignment within the temporary passage. As the secondar...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a black sedan ahead in the same lane constrains the ego vehicle's forward speed by occupying the path ahead, creating a current conflict that mainly requires regulat...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a series of traffic cones narrows the right lane, reducing maneuvering space and requiring slower, precise alignment within the temporary passage. As the secondar...
[ "CODA-LM/images_w_boxes/4066_object_2.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a road worker near the lane creates a medium-severity future conflict by potentially entering the lane, restricting speed and requiring readiness to yield. As the...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a work truck parked close to the roadway creates a medium-severity safety margin reduction by narrowing maneuvering space along the curve, which moderately limits...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a road worker near the lane creates a medium-severity future conflict by potentially entering the lane, restricting speed and requiring readiness to yield. As the...
[ "CODA-LM/images_w_boxes/4296_object_3.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should strongly decelerate and continue straight, navigating carefully through the narrowed space. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large blue truck ahead occupies the forward lane, forming a current conflict that restricts ego's forward spe...	The ego vehicle should gently decelerate and continue straight, through the narrowed construction area with moderate caution and mild speed reduction. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, an excavator near the road narrows the drivable space, causing a medium saf...	The ego vehicle should strongly decelerate and continue straight, navigating carefully through the narrowed space. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large blue truck ahead occupies the forward lane, forming a current conflict that restricts ego's forward spe...
[ "CODA-LM/images_w_boxes/4377_object_3.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and steer slightly left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a small dog near the roadway edge creates a medium-severity future conflict due to its potential for sudden movement into the ego path, restricting speed and re...	The ego vehicle should maintain speed and steer slightly left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a stroller with adults at the lane edge beside a stopped sedan creates a medium-severity reduction in passing safety margin because they narrow the usable corridor...	The ego vehicle should gently decelerate and steer slightly left. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a small dog near the roadway edge creates a medium-severity future conflict due to its potential for sudden movement into the ego path, restricting speed and re...
[ "CODA-LM/images_w_boxes/0667_object_2.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. The primary factor is that temporary barricades and cones narrowing the lane ahead reduce lateral maneuvering space and require a slower speed due to the narrowed corridor. The secondary facto...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. The primary factor is that a white SUV ahead in the same lane sets the primary speed constraint by occupying the lane and limiting forward motion, which bounds ego to the SUV's pace withou...	The ego vehicle should gently decelerate and steer left. No immediate hazard currently forces emergency braking or a full stop. The primary factor is that temporary barricades and cones narrowing the lane ahead reduce lateral maneuvering space and require a slower speed due to the narrowed corridor. The secondary facto...
[ "CODA-LM/images/1445.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should stop and continue straight. A dog and two pedestrians occupy the ego lane directly ahead, blocking the path and requiring an immediate stop. As the primary factor, a dog is occupying the ego lane near two pedestrians, creating a direct path conflict that restricts forward motion and requires a st...	The ego vehicle should stop and continue straight. Two pedestrians are occupying the ego lane ahead on the narrow street, requiring an immediate stop. As the primary factor, two pedestrians are occupying the ego lane, creating a direct path conflict that restricts forward motion and makes forward travel unavailable unt...	The ego vehicle should stop and continue straight. A dog and two pedestrians occupy the ego lane directly ahead, blocking the path and requiring an immediate stop. As the primary factor, a dog is occupying the ego lane near two pedestrians, creating a direct path conflict that restricts forward motion and requires a st...
[ "CODA-LM/images/3740.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a small dark dog is standing near the center-left of the narrow lane ahead, directly occupying the drivable path, creating a current path conflict that restricts ...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the lane is narrow and bordered by walls and buildings, reducing the safety margin for maneuvering with medium severity and mildly limiting speed while still leaving...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a small dark dog is standing near the center-left of the narrow lane ahead, directly occupying the drivable path, creating a current path conflict that restricts ...
[ "CODA-LM/images_w_boxes/0054_object_2.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a line of orange/pink temporary barriers occupies the left side of the roadway under the overpass, narrowing the drivable lane and reducing lateral maneuvering sp...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a white SUV directly ahead-right with brake lights illuminated indicates slowing traffic ahead, creating a current forward conflict that reduces available speed m...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a line of orange/pink temporary barriers occupies the left side of the roadway under the overpass, narrowing the drivable lane and reducing lateral maneuvering sp...
[ "CODA-LM/images_w_boxes/1969_object_4.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, two excavators and a gravel pile occupy the left side of the road, narrowing the available lane and reducing the safety margin, requiring slower speeds and straig...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a white SUV is traveling ahead in the open lane under a green traffic light, creating a low-severity future conflict through ordinary car-following that mainly bound...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, two excavators and a gravel pile occupy the left side of the road, narrowing the available lane and reducing the safety margin, requiring slower speeds and straig...
[ "CODA-LM/images_w_boxes/1831_object_1.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should stop and continue straight. Severe artificial light glare on the right side obscures the immediate path through the narrow gated entrance. As the primary factor, severe artificial light glare on the right side of the narrow gated entrance saturates visibility, causing a high-severity safety margi...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the narrow gated entrance bordered by railings and a raised boom barrier forms a normative maneuvering-space constraint because the channel is confined but open, ...	The ego vehicle should stop and continue straight. Severe artificial light glare on the right side obscures the immediate path through the narrow gated entrance. As the primary factor, severe artificial light glare on the right side of the narrow gated entrance saturates visibility, causing a high-severity safety margi...
[ "CODA-LM/images/0390.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the right-side construction zone with cones and unfinished pavement reduces the safety margin for lateral maneuvers, requiring careful centering and avoidance of ...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the white sedan directly ahead in the same lane occupies the ego vehicle's path, creating a current conflict that mainly limits forward speed while leaving the la...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the right-side construction zone with cones and unfinished pavement reduces the safety margin for lateral maneuvers, requiring careful centering and avoidance of ...
[ "CODA-LM/images/3192.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the poorly illuminated crosswalk ahead reduces visibility, forming a safety margin reduction condition that constrains ego's speed to ensure sufficient reaction t...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the parked car near the curb adjacent to the crosswalk creates low-severity safety margin reduction by limiting curbside visibility and slightly narrowing usable spa...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the poorly illuminated crosswalk ahead reduces visibility, forming a safety margin reduction condition that constrains ego's speed to ensure sufficient reaction t...
[ "CODA-LM/images_w_boxes/3988_object_3.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, cones and barricades on the left side of the road narrow the drivable lane, reducing lateral maneuverability and requiring precise navigation within the available...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a van traveling ahead in the open lane occupies the forward space, creating a direct current-conflict car-following constraint that mainly limits ego's speed to the ...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, cones and barricades on the left side of the road narrow the drivable lane, reducing lateral maneuverability and requiring precise navigation within the available...
[ "CODA-LM/images_w_boxes/4710_object_3.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large wheel loader near the right side of the lane reduces lateral clearance, narrowing the drivable path and restricting ego's speed and maneuvering. As the se...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a forklift parked on the immediate right edge of the road reduces right-side lateral clearance, creating a medium safety-margin reduction that narrows the drivable p...	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, a large wheel loader near the right side of the lane reduces lateral clearance, narrowing the drivable path and restricting ego's speed and maneuvering. As the se...
[ "CODA-LM/images/1076.jpg" ]	Below is a single static driving-scene image. Treat it as one snapshot in time. SCENE IMAGE: <image> Describe the expected driving behavior for the vehicle in the near future.	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the yellow crane truck on the left roadside with an extended boom reduces the lateral clearance, forming a safety margin reduction of medium severity that constra...	The ego vehicle should maintain speed and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the oncoming white sedan on the narrow road creates a current conflict for lane space, which mildly constrains ego's speed while leaving the straight path available....	The ego vehicle should gently decelerate and continue straight. No immediate hazard currently forces emergency braking or a full stop. As the primary factor, the yellow crane truck on the left roadside with an extended boom reduces the lateral clearance, forming a safety margin reduction of medium severity that constra...