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4
Suppose our current speed is moderate(10-30 mph), and we perform action "BRAKE" for 2.0 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
B
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0042_0_40/14_19" ]
[ "obs/0.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
0
Suppose our current speed is slow(0-10 mph), and we perform action "SLOW_DOWN" for 0.5 seconds. Will we run into object <0>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <0>. Object <0> is located in the right-front sector, but we will end in the front sector.
embodied_collision
[ "ba12347177444b04b3cc2df71c43cbf4" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0199_0_39/4_34" ]
[ "obs/1.png" ]
{"A": "Yes", "B": "No"}
real
1
How close are object <0> and object <2> positioned? Classify the answer into: (A) Very close(0-2m) (B) Close(2-10m) (C) Medium(10-30m) (D) Far(30m-).
C
Object <0>, a trailer to the left and in front of us, is to the left of object <2>, a truck directly in front of us, at a medium distance.
relative_distance
[ "83404601c2c94de99cdde87160222d50", "1b55a5ee75d54b259dca72600ce52b8c" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0170_0_39/4_18" ]
[ "obs/2.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
2
Suppose our current speed is fast(30-50 mph), and we perform action "SLOW_DOWN" for 1.0 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_3" ]
[ "obs/3.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
3
Consider object <0>, object <1>, object <2>, and object <4>. Please order them from rightmost to leftmost in our coordinate system. Choose the best answer from option (A) through (D): (A) <1>, <0>, <4>, <2>; (B) <2>, <1>, <4>, <0>; (C) <2>, <4>, <0>, <1>; (D) <2>, <4>, <1>, <0>.
C
The car(<2>) is at the far right, and the truck(<1>) is at the far left. The car(<4>) and the car(<0>) are in between.
order_rightmost
[ "e14fa0fb58534f94a8489b069d6b0f1a", "26edc3d329224ad798f038ac05c81b40", "a4df3c558830402c829e86129652b4db", "85356a4de2814a928b1eeae48b9581f0" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_34" ]
[ "obs/4.png" ]
{"A": "<1>, <0>, <4>, <2>", "B": "<2>, <1>, <4>, <0>", "C": "<2>, <4>, <0>, <1>", "D": "<2>, <4>, <1>, <0>"}
real
4
Suppose our current speed is very fast(50+ mph), and we perform action "TURN_RIGHT" for 1.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
D
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0467_0_39/4_8" ]
[ "obs/5.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
5
Suppose our current speed is fast(30-50 mph), and we perform action "TURN_RIGHT" for 0.5 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0025_0_39/24_18" ]
[ "obs/6.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
6
What labeled objects fall within "very close" range from us? We classify distance into: "very close"(0-2m); "close"(2-10m); "medium"(10-30m); "far"(30m-). Choose the best answer from option (A) through (D): (A) [<6>, <8>, <9>, <10>]; (B) []; (C) [<2>, <3>, <6>, <9>]; (D) [<1>, <2>, <6>, <8>].
B
Option (A) is wrong since there exists 1 object(<6>) positioned at medium distance from us, 1 object(<8>) positioned at close distance from us and 2 objects(<9>, <10>) positioned at far distance from us; Option (C) is wrong since there exists 2 objects(<2>, <6>) positioned at medium distance from us and 2 objects(<3>, ...
describe_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_26" ]
[ "obs/7.png" ]
{"A": "[<6>, <8>, <9>, <10>]", "B": "[]", "C": "[<2>, <3>, <6>, <9>]", "D": "[<1>, <2>, <6>, <8>]"}
real
7
Suppose our current speed is fast(30-50 mph), and we perform action "BRAKE" for 0.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
B
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_3" ]
[ "obs/8.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
8
Suppose our current speed is very fast(50+ mph), and we perform action "SLOW_DOWN" for 1.0 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
D
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_7" ]
[ "obs/9.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
9
For all labeled objects, which object is closest to us? Choose the best answer from option (A) through (D): (A) <1>; (B) <0>; (C) <10>; (D) <6>.
B
The traffic barrier(<0>) is the closest labeled object from us.
identify_closest
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_28" ]
[ "obs/10.png" ]
{"A": "<1>", "B": "<0>", "C": "<10>", "D": "<6>"}
real
10
Suppose object <1> proceed along its current heading. Will it collides into object <2> if object <2> stays still? Choose the best answer between option (A) and (B): (A) No; (B) Yes.
A
No, object <1> will not run into object <2>.
relative_predict_crash_still
[ "3559187bb50f49a4bb389c4c05c01e10", "b3e9ef0bfb77429685b2b3e3879a97ee" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0360_0_39/2_22" ]
[ "obs/11.png" ]
{"A": "No", "B": "Yes"}
real
11
What labeled objects fall within "far" range from us? We classify distance into: "very close"(0-2m); "close"(2-10m); "medium"(10-30m); "far"(30m-). Choose the best answer from option (A) through (D): (A) [<1>, <2>, <3>, <4>]; (B) [<1>, <3>, <4>, <5>]; (C) [<2>, <3>, <4>, <5>]; (D) [].
C
Option (A) is wrong since there exists 1 object(<1>) positioned at medium distance from us; Option (B) is wrong since there exists 1 object(<1>) positioned at medium distance from us; Option (D) is wrong since there exists at least 4 objects(<2>, <3>, <4>, <5>) positioned at specified(far) distance from us.
describe_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_19" ]
[ "obs/12.png" ]
{"A": "[<1>, <2>, <3>, <4>]", "B": "[<1>, <3>, <4>, <5>]", "C": "[<2>, <3>, <4>, <5>]", "D": "[]"}
real
12
Consider object <4>, object <2>, object <1>, and object <0>. Please order them from closest to furthest from us. Choose the best answer from option (A) through (D): (A) <0>, <4>, <2>, <1>; (B) <4>, <0>, <2>, <1>; (C) <2>, <4>, <1>, <0>; (D) <0>, <2>, <4>, <1>.
C
The car(<2>) is closest to us, and the car(<0>) is furthest away from us. The car(<4>) and the car(<1>) are in between.
order_closest
[ "b2d6b8ac06544650963becef13ab92f7", "5682e3290aaf4e75b76e877e8ae6e254", "cf46436024824757b9f0b16034d62051", "9f59e4d710bd4a339f1cc8fcf8c1c48f" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_12" ]
[ "obs/13.png" ]
{"A": "<0>, <4>, <2>, <1>", "B": "<4>, <0>, <2>, <1>", "C": "<2>, <4>, <1>, <0>", "D": "<0>, <2>, <4>, <1>"}
real
13
Suppose our current speed is fast(30-50 mph), and we perform action "KEEP_STRAIGHT" for 0.5 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0170_0_39/4_20" ]
[ "obs/14.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
14
What is the numerical label associated with the highlighted area? Choose the best answer from option (A) through (D): (A) 46; (B) 43; (C) 36; (D) 40.
C
grounding
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0042_0_40/14_32" ]
[ "obs/15.png" ]
{"A": "46", "B": "43", "C": "36", "D": "40"}
real
15
Suppose our current speed is moderate(10-30 mph), and we perform action "SLOW_DOWN" for 0.5 seconds. Will we run into object <3>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <3>. Object <3> is located in the right-front sector, but we will end in the front sector.
embodied_collision
[ "ecc98f093f484c02a983ef11899da774" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_38" ]
[ "obs/16.png" ]
{"A": "Yes", "B": "No"}
real
16
How close are object <0> and object <1> positioned? Classify the answer into: (A) Very close(0-2m) (B) Close(2-10m) (C) Medium(10-30m) (D) Far(30m-).
C
Object <0>, a car to the right and in front of us, is to the right and in front of object <1>, a pedestrian directly in front of us, at a medium distance.
relative_distance
[ "79a9031dee404e8ba1d7413c6ba86694", "a820771a06f041b583158c15476cea79" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_22" ]
[ "obs/17.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
17
Please describe the heading direction of object <0>. Choose the best answer from option (A) through (D): (A) front; (B) back; (C) left; (D) right.
A
The bus(<0>) directly in front of us is facing our front direction.
identify_heading
[ "1d95a89e0f284f92a754704003ade0aa" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0014_0_39/13_5" ]
[ "obs/18.png" ]
{"A": "front", "B": "back", "C": "left", "D": "right"}
real
18
What labeled objects fall within "very close" range from us? We classify distance into: "very close"(0-2m); "close"(2-10m); "medium"(10-30m); "far"(30m-). Choose the best answer from option (A) through (D): (A) []; (B) [<1>, <2>, <3>, <4>]; (C) [<0>, <1>, <3>, <4>]; (D) [<0>, <1>, <2>, <4>].
A
Option (B) is wrong since there exists 1 object(<1>) positioned at far distance from us and 3 objects(<2>, <3>, <4>) positioned at medium distance from us; Option (C) is wrong since there exists 3 objects(<0>, <3>, <4>) positioned at medium distance from us and 1 object(<1>) positioned at far distance from us; Option (...
describe_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_28" ]
[ "obs/19.png" ]
{"A": "[]", "B": "[<1>, <2>, <3>, <4>]", "C": "[<0>, <1>, <3>, <4>]", "D": "[<0>, <1>, <2>, <4>]"}
real
19
Please describe all labeled objects in the observation, in the order of their labels. For each labeled object, specify its color, type, position with respect to us, distance from us. If the object has heading direction, also include its heading in clock terms where 12 o'clock represents our front and 3 o'clock is our r...
<0>: A pedestrian positioned in our left-front sector at close distance. It heads toward our right-back direction.
describe_scenario
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0025_0_39/24_11" ]
[ "obs/20.png" ]
{}
real
20
For all labeled objects, which object is the rightmost in our coordinate system? Choose the best answer from option (A) through (D): (A) <0>; (B) <8>; (C) <3>; (D) <6>.
B
The bus(<8>) is the rightest labeled object from us.
identify_rightmost
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_15" ]
[ "obs/21.png" ]
{"A": "<0>", "B": "<8>", "C": "<3>", "D": "<6>"}
real
21
Please describe all labeled objects in the observation, in the order of their labels. For each labeled object, specify its color, type, position with respect to us, distance from us. If the object has heading direction, also include its heading in clock terms where 12 o'clock represents our front and 3 o'clock is our r...
<0>: A bus positioned in our front sector at medium distance. It heads toward our front direction.
describe_scenario
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0014_0_39/13_1" ]
[ "obs/22.png" ]
{}
real
22
Suppose our current speed is very fast(50+ mph), and we perform action "TURN_LEFT" for 1.5 seconds. Will we run into object <6>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <6>. Object <6> is located in the right-front sector, but we will end in the left-front sector.
embodied_collision
[ "088eb8488c4246a0954dfd28c46939e9" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_16" ]
[ "obs/23.png" ]
{"A": "Yes", "B": "No"}
real
23
Suppose our current speed is very fast(50+ mph), and we perform action "TURN_RIGHT" for 2.0 seconds. Will we run into object <1>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
A
We will run into object <1> currently in front sector after 0.2 seconds.
embodied_collision
[ "3559187bb50f49a4bb389c4c05c01e10" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0360_0_39/2_23" ]
[ "obs/24.png" ]
{"A": "Yes", "B": "No"}
real
24
Suppose our current speed is fast(30-50 mph), and we perform action "TURN_LEFT" for 1.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
C
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0025_0_39/24_10" ]
[ "obs/25.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
25
Please describe all labeled objects in the observation, in the order of their labels. For each labeled object, specify its color, type, position with respect to us, distance from us. If the object has heading direction, also include its heading in clock terms where 12 o'clock represents our front and 3 o'clock is our r...
<0>: A truck positioned in our front sector at far distance. It heads toward our right-front direction. <1>: A bus positioned in our right-front sector at far distance. It heads toward our front direction.
describe_scenario
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0431_0_40/20_38" ]
[ "obs/26.png" ]
{}
real
26
Suppose our current speed is moderate(10-30 mph), and we perform action "TURN_RIGHT" for 1.0 seconds. Will we run into object <0>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <0>. Object <0> is located in the left-front sector, but we will end in the front sector.
embodied_collision
[ "c4a894061aad467cb9d1be983b435604" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0467_0_39/4_31" ]
[ "obs/27.png" ]
{"A": "Yes", "B": "No"}
real
27
Suppose object <3> proceed along its current heading. Will it collides into us if we stay still? Choose the best answer between option (A) and (B): (A) Yes; (B) No.
B
No, this car(<3>) to the right and in front of us and heading toward our front direction will not run into us if it drives along its current heading.
predict_crash_ego_still
[ "5a256bceda314d7a8130903aca3a5c2b" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_18" ]
[ "obs/28.png" ]
{"A": "Yes", "B": "No"}
real
28
What labeled objects fall within "far" range from us? We classify distance into: "very close"(0-2m); "close"(2-10m); "medium"(10-30m); "far"(30m-). Choose the best answer from option (A) through (D): (A) []; (B) [<1>, <2>]; (C) [<1>, <4>]; (D) [<1>, <3>].
C
Option (A) is wrong since there exists at least 2 objects(<1>, <4>) positioned at specified(far) distance from us; Option (B) is wrong since there exists 1 object(<2>) positioned at medium distance from us; Option (D) is wrong since there exists 1 object(<3>) positioned at medium distance from us.
describe_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_19" ]
[ "obs/29.png" ]
{"A": "[]", "B": "[<1>, <2>]", "C": "[<1>, <4>]", "D": "[<1>, <3>]"}
real
29
Suppose our current speed is very fast(50+ mph), and we perform action "SLOW_DOWN" for 1.5 seconds. Will we run into object <6>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
A
We will run into object <6> currently in front sector after 0.1 seconds.
embodied_collision
[ "325f8914068c47e092638c6f9c27950a" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_31" ]
[ "obs/30.png" ]
{"A": "Yes", "B": "No"}
real
30
Please describe all labeled objects in the observation, in the order of their labels. For each labeled object, specify its color, type, position with respect to us, distance from us. If the object has heading direction, also include its heading in clock terms where 12 o'clock represents our front and 3 o'clock is our r...
<0>: A car positioned in our front sector at medium distance. It heads toward our front direction. <1>: A trailer positioned in our right-front sector at far distance. Since it is a trailer, it doesn't have a heading. <2>: A car positioned in our right-front sector at medium distance. It heads toward our front direc...
describe_scenario
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_26" ]
[ "obs/31.png" ]
{}
real
31
Is object <2> heading toward roughly the same direction as object <1>? Choose the best answer between option (A) and (B): (A) No; (B) Yes.
B
Yes. Object <2>, a car to the right and in front of us, is heading toward roughly the same direction as object <1>, a car to the right and in front of us.
relative_heading
[ "7ed92cda54604055a63f902c643cfd36", "a4df3c558830402c829e86129652b4db" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_31" ]
[ "obs/32.png" ]
{"A": "No", "B": "Yes"}
real
32
Suppose our current speed is slow(0-10 mph), and we perform action "BRAKE" for 2.0 seconds. Will we run into object <2>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <2>. Object <2> is located in the left-front sector, but we will end in the front sector.
embodied_collision
[ "7ddd8ae7d7784d17871a869f571dfda9" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0170_0_39/4_16" ]
[ "obs/33.png" ]
{"A": "Yes", "B": "No"}
real
33
Suppose our current speed is very fast(50+ mph), and we perform action "TURN_LEFT" for 0.5 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0431_0_40/20_26" ]
[ "obs/34.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
34
Suppose object <1> and object <0> proceed along their current directions with the same speed. Will they collide into each other? Choose the best answer between option (A) and (B): (A) No; (B) Yes.
A
No, object <1> will not run into object <0>.
relative_predict_crash_dynamic
[ "e14fa0fb58534f94a8489b069d6b0f1a", "a4df3c558830402c829e86129652b4db" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_33" ]
[ "obs/35.png" ]
{"A": "No", "B": "Yes"}
real
35
Please describe the heading direction of object <0>. Choose the best answer from option (A) through (D): (A) left; (B) right; (C) back; (D) front.
C
The bus(<0>) to the left and in front of us is facing our back direction.
identify_heading
[ "23c819c5e9384beab606585557437809" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_2" ]
[ "obs/36.png" ]
{"A": "left", "B": "right", "C": "back", "D": "front"}
real
36
Suppose our current speed is slow(0-10 mph), and we perform action "TURN_LEFT" for 1.5 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0431_0_40/20_19" ]
[ "obs/37.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
37
Suppose our current speed is fast(30-50 mph), and we perform action "TURN_RIGHT" for 1.0 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0058_0_38/5_29" ]
[ "obs/38.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
38
Please tell me how far object <0> is from us. Classify the answer into: (A) Very close(0-2m) (B) Close(2-10m) (C) Medium(10-30m) (D) Far(30m-).
C
The car(<0>) is 22 meters to the left and in front of us. Therefore, it belongs to "medium".
identify_distance
[ "03e7212e8f234247b9d82a4303bf8c01" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0360_0_39/2_3" ]
[ "obs/39.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
39
Consider object <0>, object <3>, object <1>, and object <2>. Please order them from leftmost to rightmost in our coordinate system. Choose the best answer from option (A) through (D): (A) <0>, <1>, <3>, <2>; (B) <2>, <3>, <0>, <1>; (C) <3>, <0>, <1>, <2>; (D) <3>, <1>, <2>, <0>.
B
The construction vehicle(<2>) is at the far left, and the trailer(<1>) is at the far right. The truck(<3>) and the truck(<0>) are in between.
order_leftmost
[ "256b90dcfefb42b8a246a33ac0793d7f", "56d0094604014dee90a4dfb6f861f4e6", "a7b89c60dbdc4d0fa4ab9c34ec8265e1", "1690b715b1a34366829f5177e70510de" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0170_0_39/4_9" ]
[ "obs/40.png" ]
{"A": "<0>, <1>, <3>, <2>", "B": "<2>, <3>, <0>, <1>", "C": "<3>, <0>, <1>, <2>", "D": "<3>, <1>, <2>, <0>"}
real
40
Specify the type of object <0>. Choose the best answer from option (A) through (D): (A) Fire engine; (B) Sedan; (C) Traffic barrier; (D) Truck.
D
The type of this object(<0>) directly in front of of us is truck.
identify_type
[ "942b756da48e4684bfc7bc317d66392c" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_11" ]
[ "obs/41.png" ]
{"A": "fire engine", "B": "sedan", "C": "traffic barrier", "D": "truck"}
real
41
Consider object <1>, object <0>, object <4>, and object <3>. Please order them from closest to the furthest along our front direction. Choose the best answer from option (A) through (D): (A) <3>, <4>, <0>, <1>; (B) <4>, <1>, <3>, <0>; (C) <1>, <4>, <0>, <3>; (D) <3>, <0>, <4>, <1>.
A
The car(<3>) is at the closest along our heading direction, and the car(<1>) is the furthest. The car(<4>) and the car(<0>) are in between.
order_backmost
[ "8d3ada17e9a94e20b9051d7cebcdedc2", "46734b26412b49c8a35b89e9ad440f20", "85356a4de2814a928b1eeae48b9581f0", "ab23e290cdc34b37ba1c76a0f68151fb" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_37" ]
[ "obs/42.png" ]
{"A": "<3>, <4>, <0>, <1>", "B": "<4>, <1>, <3>, <0>", "C": "<1>, <4>, <0>, <3>", "D": "<3>, <0>, <4>, <1>"}
real
42
For all labeled objects, which object is closest along our front direction? Choose the best answer from option (A) through (D): (A) <3>; (B) <1>; (C) <2>; (D) <0>.
D
The truck(<0>) is the object closest along the front direction of us.
identify_backmost
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0170_0_39/4_21" ]
[ "obs/43.png" ]
{"A": "<3>", "B": "<1>", "C": "<2>", "D": "<0>"}
real
43
Please tell me how far object <1> is from us. Classify the answer into: (A) Very close(0-2m) (B) Close(2-10m) (C) Medium(10-30m) (D) Far(30m-).
D
The bus(<1>) is 33 meters to the right and in front of us. Therefore, it belongs to "far".
identify_distance
[ "45bec477761a40e380c3c2ec06495b94" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_6" ]
[ "obs/44.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
44
How close are object <1> and object <2> positioned? Classify the answer into: (A) Very close(0-2m) (B) Close(2-10m) (C) Medium(10-30m) (D) Far(30m-).
C
Object <1>, a truck to the left and in front of us, is in close proximity to object <2>, a trailer to the left and in front of us, at a medium distance.
relative_distance
[ "1b55a5ee75d54b259dca72600ce52b8c", "7ddd8ae7d7784d17871a869f571dfda9" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0170_0_39/4_13" ]
[ "obs/45.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
45
Please describe all labeled objects in the observation, in the order of their labels. For each labeled object, specify its color, type, position with respect to us, distance from us. If the object has heading direction, also include its heading in clock terms where 12 o'clock represents our front and 3 o'clock is our r...
<0>: A car positioned in our front sector at far distance. It heads toward our front direction. <1>: A car positioned in our left-front sector at far distance. It heads toward our front direction.
describe_scenario
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0042_0_40/14_4" ]
[ "obs/46.png" ]
{}
real
46
Suppose our current speed is very fast(50+ mph), and we perform action "TURN_LEFT" for 1.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
D
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0199_0_39/4_39" ]
[ "obs/47.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
47
Suppose our current speed is very fast(50+ mph), and we perform action "TURN_LEFT" for 2.0 seconds. Will we run into object <7>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <7>. Object <7> is located in the right-front sector, but we will end in the left-front sector.
embodied_collision
[ "0f2563a51a5b4d6a968463d7cf7fe408" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_30" ]
[ "obs/48.png" ]
{"A": "Yes", "B": "No"}
real
48
Suppose object <0> proceed along its current heading. Will it collides into us if we stay still? Choose the best answer between option (A) and (B): (A) No; (B) Yes.
A
No, this bus(<0>) directly in front of us and heading toward our front direction will not run into us if it drives along its current heading.
predict_crash_ego_still
[ "1d95a89e0f284f92a754704003ade0aa" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0014_0_39/13_34" ]
[ "obs/49.png" ]
{"A": "No", "B": "Yes"}
real
49
Suppose our current speed is moderate(10-30 mph), and we perform action "KEEP_STRAIGHT" for 1.5 seconds. Will we run into object <0>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <0>. Object <0> is located in the left-front sector, but we will end in the front sector.
embodied_collision
[ "648502c5aec244eeb801f677fce6a6c1" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0058_0_38/5_18" ]
[ "obs/50.png" ]
{"A": "Yes", "B": "No"}
real
50
Suppose our current speed is slow(0-10 mph), and we perform action "BRAKE" for 1.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
A
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_4" ]
[ "obs/51.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
51
Suppose our current speed is fast(30-50 mph), and we perform action "BRAKE" for 1.0 seconds. Will we run into object <1>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <1>. Object <1> is located in the left-front sector, but we will end in the front sector.
embodied_collision
[ "badc3ed9c8a142c79969a5aad36fc2bc" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_16" ]
[ "obs/52.png" ]
{"A": "Yes", "B": "No"}
real
52
How close are object <9> and object <1> positioned? Classify the answer into: (A) Very close(0-2m) (B) Close(2-10m) (C) Medium(10-30m) (D) Far(30m-).
C
Object <9>, a traffic barrier to the left and in front of us, is to the left and behind object <1>, a car to the right and in front of us, at a medium distance.
relative_distance
[ "c915f11d1d1c454ab69c1482f87c8afc", "e95335db1fd246ec966ed13558e6c4a7" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_8" ]
[ "obs/53.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
53
Suppose our current speed is slow(0-10 mph), and we perform action "TURN_LEFT" for 1.0 seconds. Will we run into object <10>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <10>, even though we both end in our front sector.
embodied_collision
[ "0d48517f7e7847c49720c41088531abe" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_24" ]
[ "obs/54.png" ]
{"A": "Yes", "B": "No"}
real
54
Consider object <4>, object <0>, object <2>, and object <1>. Please order them from furthest to the closest along our front direction. Choose the best answer from option (A) through (D): (A) <0>, <1>, <4>, <2>; (B) <0>, <4>, <1>, <2>; (C) <1>, <2>, <4>, <0>; (D) <1>, <4>, <0>, <2>.
B
The trailer(<0>) is at the furthest along our heading direction, and the car(<2>) is the closest. The truck(<4>) and the car(<1>) are in between.
order_frontmost
[ "5a7d7a9dd2a8476dbcdef475410fc1a0", "96cbe32fcd37426890194161ef502f67", "6c2eee412caa406dae759b5e1f8b23a4", "b0f2c05243cb462ea7145c6b938abba0" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_27" ]
[ "obs/55.png" ]
{"A": "<0>, <1>, <4>, <2>", "B": "<0>, <4>, <1>, <2>", "C": "<1>, <2>, <4>, <0>", "D": "<1>, <4>, <0>, <2>"}
real
55
How is object <0> positioned relative to object <1>? Choose the best answer from option (A) through (D): (A) left-back; (B) right; (C) front; (D) right-back.
D
Object <0>, a pedestrian directly in front of us, is to the right and behind object <1>, a car to the left and in front of us.
relative_position
[ "c3033dd4188f431d85ffd61cbbc7865d", "ab71f0c3f2c444a4b6b41180cae9a7ff" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0025_0_39/24_13" ]
[ "obs/56.png" ]
{"A": "left-back", "B": "right", "C": "front", "D": "right-back"}
real
56
Suppose our current speed is very fast(50+ mph), and we perform action "TURN_RIGHT" for 1.5 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
C
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0025_0_39/24_0" ]
[ "obs/57.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
57
For all labeled objects, which object is the rightmost in our coordinate system? Choose the best answer from option (A) through (D): (A) <2>; (B) <1>; (C) <0>; (D) <3>.
C
The car(<0>) is the rightest labeled object from us.
identify_rightmost
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_3" ]
[ "obs/58.png" ]
{"A": "<2>", "B": "<1>", "C": "<0>", "D": "<3>"}
real
58
Suppose our current speed is slow(0-10 mph), and we perform action "TURN_LEFT" for 2.0 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
B
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0170_0_39/4_15" ]
[ "obs/59.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
59
Suppose our current speed is moderate(10-30 mph), and we perform action "TURN_RIGHT" for 0.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
B
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_12" ]
[ "obs/60.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
60
Suppose our current speed is fast(30-50 mph), and we perform action "BRAKE" for 1.5 seconds. Will we run into object <0>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <0>. Object <0> is located in the right-front sector, but we will end in the front sector.
embodied_collision
[ "a585a5ba56404a84be2743df2bd0ad07" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_22" ]
[ "obs/61.png" ]
{"A": "Yes", "B": "No"}
real
61
Suppose our current speed is fast(30-50 mph), and we perform action "TURN_LEFT" for 1.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
C
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0360_0_39/2_34" ]
[ "obs/62.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
62
Suppose our current speed is moderate(10-30 mph), and we perform action "TURN_RIGHT" for 1.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
C
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_24" ]
[ "obs/54.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
63
Please describe all labeled objects in the observation, in the order of their labels. For each labeled object, specify its color, type, position with respect to us, distance from us. If the object has heading direction, also include its heading in clock terms where 12 o'clock represents our front and 3 o'clock is our r...
<0>: A traffic barrier positioned in our left-front sector at close distance. Since it is a traffic barrier, it doesn't have a heading. <1>: A pedestrian positioned in our front sector at medium distance. It heads toward our right-back direction. <2>: A pedestrian positioned in our right-front sector at medium dista...
describe_scenario
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_25" ]
[ "obs/63.png" ]
{}
real
64
Specify the type of object <0>. Choose the best answer from option (A) through (D): (A) Ambulance; (B) construction Vehicle; (C) Traffic barrier; (D) Hatchback.
C
The type of this object(<0>) to the left and in front of of us is traffic barrier.
identify_type
[ "ca1e98dc6a65406a948bfe321ba9310a" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_30" ]
[ "obs/48.png" ]
{"A": "ambulance", "B": "construction vehicle", "C": "traffic barrier", "D": "hatchback"}
real
65
Consider object <1>, object <2>, object <4>, and object <0>. Please order them from rightmost to leftmost in our coordinate system. Choose the best answer from option (A) through (D): (A) <1>, <2>, <0>, <4>; (B) <2>, <4>, <1>, <0>; (C) <2>, <0>, <1>, <4>; (D) <1>, <4>, <0>, <2>.
B
The traffic cone(<2>) is at the far right, and the car(<0>) is at the far left. The traffic cone(<4>) and the traffic cone(<1>) are in between.
order_rightmost
[ "c414c90120c2433aa0302c17d8990c23", "ad29c2b260514e33a380e79a8143669c", "322eb995027e43749005c5ea153623c5", "ea5547db20bb40aebddaea8bcf07aca8" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0360_0_39/2_39" ]
[ "obs/64.png" ]
{"A": "<1>, <2>, <0>, <4>", "B": "<2>, <4>, <1>, <0>", "C": "<2>, <0>, <1>, <4>", "D": "<1>, <4>, <0>, <2>"}
real
66
Suppose our current speed is slow(0-10 mph), and we perform action "BRAKE" for 1.5 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_16" ]
[ "obs/65.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
67
Please describe the heading direction of object <0>. Choose the best answer from option (A) through (D): (A) left-back; (B) right-back; (C) right-front; (D) left-front.
A
The pedestrian(<0>) to the right and in front of us is facing our left-back direction.
identify_heading
[ "6ad1ba1575c44bf2bb319949d1bd93aa" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0025_0_39/24_33" ]
[ "obs/66.png" ]
{"A": "left-back", "B": "right-back", "C": "right-front", "D": "left-front"}
real
68
Specify the type of object <2>. Choose the best answer from option (A) through (D): (A) Construction worker; (B) Sports Car; (C) Truck; (D) Animal.
C
The type of this object(<2>) directly in front of of us is truck.
identify_type
[ "8c1d71224c2044aba70e66300bc8bf51" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0170_0_39/4_5" ]
[ "obs/67.png" ]
{"A": "construction worker", "B": "sports car", "C": "truck", "D": "animal"}
real
69
Suppose our current speed is fast(30-50 mph), and we perform action "SLOW_DOWN" for 1.0 seconds. Will we run into object <1>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <1>. Object <1> is located in the right-front sector, but we will end in the front sector.
embodied_collision
[ "5213be6b217c40029d46626ba40e3c22" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0431_0_40/20_31" ]
[ "obs/68.png" ]
{"A": "Yes", "B": "No"}
real
70
What is the numerical label associated with the highlighted area? Choose the best answer from option (A) through (D): (A) 32; (B) 45; (C) 23; (D) 42.
D
grounding
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0431_0_40/20_34" ]
[ "obs/69.png" ]
{"A": "32", "B": "45", "C": "23", "D": "42"}
real
71
Suppose our current speed is slow(0-10 mph), and we perform action "SLOW_DOWN" for 2.0 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
A
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0360_0_39/2_32" ]
[ "obs/70.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
72
Suppose our current speed is slow(0-10 mph), and we perform action "KEEP_STRAIGHT" for 1.0 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0058_0_38/5_18" ]
[ "obs/50.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
73
What labeled objects fall within "close" range from us? We classify distance into: "very close"(0-2m); "close"(2-10m); "medium"(10-30m); "far"(30m-). Choose the best answer from option (A) through (D): (A) [<2>, <3>, <4>, <5>]; (B) [<0>, <2>, <3>, <6>]; (C) [<1>, <2>, <4>, <6>]; (D) [].
D
Option (A) is wrong since there exists 4 objects(<2>, <3>, <4>, <5>) positioned at far distance from us; Option (B) is wrong since there exists 3 objects(<0>, <2>, <3>) positioned at far distance from us and 1 object(<6>) positioned at medium distance from us; Option (C) is wrong since there exists 3 objects(<1>, <2>, ...
describe_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_22" ]
[ "obs/71.png" ]
{"A": "[<2>, <3>, <4>, <5>]", "B": "[<0>, <2>, <3>, <6>]", "C": "[<1>, <2>, <4>, <6>]", "D": "[]"}
real
74
What is the numerical label associated with the highlighted area? Choose the best answer from option (A) through (D): (A) 15; (B) 48; (C) 43; (D) 38.
A
grounding
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0360_0_39/2_10" ]
[ "obs/72.png" ]
{"A": "15", "B": "48", "C": "43", "D": "38"}
real
75
Is object <2> heading toward roughly the same direction as object <1>? Choose the best answer between option (A) and (B): (A) Yes; (B) No.
A
Yes. Object <2>, a truck to the left and in front of us, is heading toward roughly the same direction as object <1>, a car to the left and in front of us.
relative_heading
[ "35cd18c09be44e56bbcb7607a55c4a2f", "da2193c38e34415ebc87b272c540b581" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_1" ]
[ "obs/73.png" ]
{"A": "Yes", "B": "No"}
real
76
Suppose our current speed is very fast(50+ mph), and we perform action "KEEP_STRAIGHT" for 1.0 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
D
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0431_0_40/20_25" ]
[ "obs/74.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
77
Please tell me how far object <1> is from us. Classify the answer into: (A) Very close(0-2m) (B) Close(2-10m) (C) Medium(10-30m) (D) Far(30m-).
C
The car(<1>) is 19 meters to the right and in front of us. Therefore, it belongs to "medium".
identify_distance
[ "a40ce52374724ed78d50ce7a6d90d0fb" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0360_0_39/2_15" ]
[ "obs/75.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
78
Please describe all labeled objects in the observation, in the order of their labels. For each labeled object, specify its color, type, position with respect to us, distance from us. If the object has heading direction, also include its heading in clock terms where 12 o'clock represents our front and 3 o'clock is our r...
<0>: A traffic barrier positioned in our left-front sector at medium distance. Since it is a traffic barrier, it doesn't have a heading. <1>: A traffic barrier positioned in our right-front sector at medium distance. Since it is a traffic barrier, it doesn't have a heading. <2>: A traffic barrier positioned in our l...
describe_scenario
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_36" ]
[ "obs/76.png" ]
{}
real
79
What labeled objects fall into our left-front sector? Choose the best answer from option (A) through (D): (A) [<1>, <3>]; (B) []; (C) [<3>, <4>]; (D) [<0>, <1>].
A
Option (B) is wrong since there exists at least 2 objects(<1>, <3>) in the specified(left-front) sector; Option (C) is wrong since there exists 1 object(<4>) in the right-front sector; Option (D) is wrong since there exists 1 object(<0>) in the front sector.
describe_sector
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0504_0_38/20_12" ]
[ "obs/77.png" ]
{"A": "[<1>, <3>]", "B": "[]", "C": "[<3>, <4>]", "D": "[<0>, <1>]"}
real
80
Specify the type of object <0>. Choose the best answer from option (A) through (D): (A) Car; (B) Traffic cone; (C) school Bus; (D) Bus.
A
The type of this object(<0>) directly in front of of us is car.
identify_type
[ "9ba9bd3433994885a82ab25999b56e17" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0431_0_40/20_25" ]
[ "obs/74.png" ]
{"A": "car", "B": "traffic cone", "C": "school bus", "D": "bus"}
real
81
Suppose our current speed is slow(0-10 mph), and we perform action "SLOW_DOWN" for 0.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
A
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_36" ]
[ "obs/78.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
82
Suppose our current speed is slow(0-10 mph), and we perform action "BRAKE" for 1.0 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0058_0_38/5_5" ]
[ "obs/79.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
83
Suppose our current speed is very fast(50+ mph), and we perform action "SLOW_DOWN" for 2.0 seconds. Which sector will we end up? Select the best option from: (A) left-front; (B) front; (C) right-front.
B
embodied_sideness
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0467_0_39/4_31" ]
[ "obs/27.png" ]
{"A": "left-front", "B": "front", "C": "right-front"}
real
84
For all labeled objects, which object is closest to us? Choose the best answer from option (A) through (D): (A) <0>; (B) <1>; (C) <2>; (D) <5>.
C
The car(<2>) is the closest labeled object from us.
identify_closest
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_8" ]
[ "obs/80.png" ]
{"A": "<0>", "B": "<1>", "C": "<2>", "D": "<5>"}
real
85
Suppose object <0> proceed along its current heading. Will it collides into us if we stay still? Choose the best answer between option (A) and (B): (A) No; (B) Yes.
A
No, this car(<0>) to the left and in front of us and heading toward our front direction will not run into us if it drives along its current heading.
predict_crash_ego_still
[ "9a40b6773c3b459d8e68859e1205b851" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0042_0_40/14_8" ]
[ "obs/81.png" ]
{"A": "No", "B": "Yes"}
real
86
Please describe all labeled objects in the observation, in the order of their labels. For each labeled object, specify its color, type, position with respect to us, distance from us. If the object has heading direction, also include its heading in clock terms where 12 o'clock represents our front and 3 o'clock is our r...
<0>: A car positioned in our right-front sector at far distance. It heads toward our back direction. <1>: A traffic barrier positioned in our left-front sector at medium distance. Since it is a traffic barrier, it doesn't have a heading. <2>: A traffic barrier positioned in our right-front sector at medium distance....
describe_scenario
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_4" ]
[ "obs/82.png" ]
{}
real
87
How is object <2> positioned relative to object <0>? Choose the best answer from option (A) through (D): (A) left-front; (B) left-back; (C) right; (D) back.
D
Object <2>, a car to the right and in front of us, is directly behind object <0>, a car to the right and in front of us.
relative_position
[ "eda72dd293d14166aeb6e615611cf5d4", "0ccf02c36f7c4d19b20f99747424feeb" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0389_0_39/5_13" ]
[ "obs/83.png" ]
{"A": "left-front", "B": "left-back", "C": "right", "D": "back"}
real
88
Suppose our current speed is fast(30-50 mph), and we perform action "TURN_RIGHT" for 2.0 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
C
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_19" ]
[ "obs/84.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
89
Specify the type of object <0>. Choose the best answer from option (A) through (D): (A) construction Vehicle; (B) Caravan; (C) Police officer; (D) Pickup.
A
The type of this object(<0>) directly in front of of us is construction vehicle.
identify_type
[ "1690b715b1a34366829f5177e70510de" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0170_0_39/4_12" ]
[ "obs/85.png" ]
{"A": "construction vehicle", "B": "caravan", "C": "police officer", "D": "pickup"}
real
90
Suppose object <0> proceed along its current heading. Will it collides into us if we stay still? Choose the best answer between option (A) and (B): (A) No; (B) Yes.
A
No, this pedestrian(<0>) to the left and in front of us and heading toward our left-front direction will not run into us if it drives along its current heading.
predict_crash_ego_still
[ "556ee589b1ff4c4a9d2a076a0f05ec96" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0042_0_40/14_0" ]
[ "obs/86.png" ]
{"A": "No", "B": "Yes"}
real
91
Suppose our current speed is moderate(10-30 mph), and we perform action "SLOW_DOWN" for 2.0 seconds. Will we run into object <0>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <0>. Object <0> is located in the left-front sector, but we will end in the front sector.
embodied_collision
[ "e6911273a3a04120a9037ebda65a2fc3" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0199_0_39/4_1" ]
[ "obs/87.png" ]
{"A": "Yes", "B": "No"}
real
92
Suppose our current speed is moderate(10-30 mph), and we perform action "BRAKE" for 0.5 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
B
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0025_0_39/24_16" ]
[ "obs/88.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
93
Suppose our current speed is moderate(10-30 mph), and we perform action "KEEP_STRAIGHT" for 2.0 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
C
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0360_0_39/2_6" ]
[ "obs/89.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
94
Suppose our current speed is moderate(10-30 mph), and we perform action "SLOW_DOWN" for 2.0 seconds. How far will we end up from our current position? Select the best option from: (A) Very close(0-2m); (B) Close(2-10m); (C) Medium(10-30m); (D) Far(30m-).
C
embodied_distance
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0025_0_39/24_18" ]
[ "obs/6.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
95
Please describe the heading direction of object <0>. Choose the best answer from option (A) through (D): (A) right-front; (B) left-back; (C) left-front; (D) right-back.
C
The car(<0>) to the right and in front of us is facing our left-front direction.
identify_heading
[ "79a9031dee404e8ba1d7413c6ba86694" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0356_0_38/23_25" ]
[ "obs/90.png" ]
{"A": "right-front", "B": "left-back", "C": "left-front", "D": "right-back"}
real
96
How close are object <4> and object <10> positioned? Classify the answer into: (A) Very close(0-2m) (B) Close(2-10m) (C) Medium(10-30m) (D) Far(30m-).
C
Object <4>, a traffic barrier to the right and in front of us, is to the right and in front of object <10>, a traffic barrier to the left and in front of us, at a medium distance.
relative_distance
[ "05c00404a5284cd5a4a8f7a8708339f2", "325f8914068c47e092638c6f9c27950a" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_27" ]
[ "obs/91.png" ]
{"A": "very close", "B": "close", "C": "medium", "D": "far"}
real
97
Suppose our current speed is moderate(10-30 mph), and we perform action "TURN_RIGHT" for 1.0 seconds. Will we run into object <0>, provided that it remains still? Select the best option from: (A) Yes; (B) No.
B
We will not run into object <0>. Object <0> is located in the left-front sector, but we will end in the front sector.
embodied_collision
[ "ca1e98dc6a65406a948bfe321ba9310a" ]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_20" ]
[ "obs/92.png" ]
{"A": "Yes", "B": "No"}
real
98
For all labeled objects, which object is furthest along our front direction? Choose the best answer from option (A) through (D): (A) <0>; (B) <4>; (C) <7>; (D) <5>.
B
The traffic barrier(<4>) is the object furthest along front direction us.
identify_frontmost
[]
[ "/bigdata/weizhen/metavqa_cvpr/scenarios/nusc_real/scene-0351_0_39/18_24" ]
[ "obs/93.png" ]
{"A": "<0>", "B": "<4>", "C": "<7>", "D": "<5>"}
real
99
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MetaVQA-MCQ

JSONL-flattened version of MetaVQA (Weizhen et al.) — 10,000 multi-choice driving-scene VQA questions. Each row's obs field points at one or more image filenames in the Weizhen011210/MetaVQA-Eval companion dataset.

Format 

{
  "sample_id": "0",
  "question": "...",
  "answer": "B",
  "options": {"A": "...", "B": "...", "C": "...", "D": "..."},
  "obs": ["obs/0.png"],
  "type": "embodied_distance",
  "domain": "real",
  "world": [...],
  "objects": [...],
  "explanation": ""
}

Image files

Images live in Weizhen011210/MetaVQA-Eval under obs/*.png. The lmms-eval task loads them lazily via huggingface_hub.snapshot_download(..., allow_patterns=["obs/*"]). To avoid re-downloading, set METAVQA_IMAGE_DIR to point at a local copy.

Citation 

@inproceedings{wang2025metavqa,
  title={MetaVQA: Benchmarking Visual Question Answering for Driving},
  author={Wang, Weizhen and ...},
  booktitle={CVPR},
  year={2025}
}
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