diff --git "a/test.json" "b/test.json" new file mode 100644--- /dev/null +++ "b/test.json" @@ -0,0 +1,10076 @@ +[ + { + "id": "c34206e65a1442828b950b0ca52098b7_0d85b621fec74494b421e0169a7272d2_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033809362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033809354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033809370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033809387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033809397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033809377893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a gray sedan to the back of the ego vehicle, a white truck to the front of the ego vehicle, a black sedan to the front right of the ego vehicle, a blue sedan to the front of the ego vehicle, a black car to the front of the ego vehicle, and a walking person to the front of the ego vehicle. The IDs of these objects are , , , , , and ." + } + ] + }, + { + "id": "c34206e65a1442828b950b0ca52098b7_0d85b621fec74494b421e0169a7272d2_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033809362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033809354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033809370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033809387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033809397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033809377893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "c34206e65a1442828b950b0ca52098b7_0d85b621fec74494b421e0169a7272d2_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033809362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033809354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033809370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033809387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033809397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033809377893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "c34206e65a1442828b950b0ca52098b7_0d85b621fec74494b421e0169a7272d2_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033809362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033809354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033809370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033809387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033809397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033809377893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high." + } + ] + }, + { + "id": "c34206e65a1442828b950b0ca52098b7_0d85b621fec74494b421e0169a7272d2_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033809362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033809354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033809370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033809387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033809397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033809377893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "No action taken by the ego vehicle will lead to a collision with ." + } + ] + }, + { + "id": "c34206e65a1442828b950b0ca52098b7_0d85b621fec74494b421e0169a7272d2_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033809362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033809354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033809370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033809387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033809397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033809377893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Decelerate gradually without braking and maintain the current speed." + } + ] + }, + { + "id": "c34206e65a1442828b950b0ca52098b7_0d85b621fec74494b421e0169a7272d2_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033809362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033809354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033809370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033809387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033809397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033809377893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "e329b73341204af7a9de29e65291ce1c_03021d2a1efc4a9291c9a1248d916c40_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290886412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290886404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290886420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290886437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290886447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290886428113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black car to the back of the ego vehicle, a silver sedan to the front of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "e329b73341204af7a9de29e65291ce1c_03021d2a1efc4a9291c9a1248d916c40_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290886412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290886404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290886420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290886437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290886447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290886428113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "e329b73341204af7a9de29e65291ce1c_03021d2a1efc4a9291c9a1248d916c40_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290886412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290886404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290886420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290886437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290886447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290886428113.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that . The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that . The object is moving ahead, so the ego vehicle should continue ahead at the same speed." + } + ] + }, + { + "id": "e329b73341204af7a9de29e65291ce1c_03021d2a1efc4a9291c9a1248d916c40_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290886412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290886404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290886420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290886437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290886447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290886428113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "e329b73341204af7a9de29e65291ce1c_03021d2a1efc4a9291c9a1248d916c40_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290886412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290886404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290886420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290886437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290886447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290886428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed because there is no safety issue. The probability of this action is high." + } + ] + }, + { + "id": "e329b73341204af7a9de29e65291ce1c_03021d2a1efc4a9291c9a1248d916c40_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290886412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290886404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290886420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290886437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290886447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290886428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Back up." + } + ] + }, + { + "id": "e329b73341204af7a9de29e65291ce1c_03021d2a1efc4a9291c9a1248d916c40_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290886412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290886404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290886420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290886437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290886447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290886428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, accelerate, and proceed." + } + ] + }, + { + "id": "e329b73341204af7a9de29e65291ce1c_03021d2a1efc4a9291c9a1248d916c40_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290886412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290886404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290886420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290886437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290886447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290886428113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." + } + ] + }, + { + "id": "c6c092a66329470f836714f46b92d59b_c901e00f77d84b79a8d7d6fc5b2f83af_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401555512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401555504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401555520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401555537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401555547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401555527893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white sedan car to the front of the ego vehicle, a man wearing a white T-shirt to the back of the ego vehicle, a man wearing a black shirt to the back of the ego vehicle, a white van to the front of the ego vehicle, and a person wearing black clothes to the front of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "c6c092a66329470f836714f46b92d59b_c901e00f77d84b79a8d7d6fc5b2f83af_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401555512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401555504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401555520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401555537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401555547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401555527893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "c6c092a66329470f836714f46b92d59b_c901e00f77d84b79a8d7d6fc5b2f83af_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401555512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401555504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401555520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401555537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401555547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401555527893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "c6c092a66329470f836714f46b92d59b_c901e00f77d84b79a8d7d6fc5b2f83af_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401555512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401555504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401555520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401555537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401555547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401555527893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to decelerate gradually without braking because the object has little reference value for the ego vehicle. The probability of this action is high." + } + ] + }, + { + "id": "c6c092a66329470f836714f46b92d59b_c901e00f77d84b79a8d7d6fc5b2f83af_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401555512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401555504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401555520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401555537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401555547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401555527893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerate and go straight." + } + ] + }, + { + "id": "c6c092a66329470f836714f46b92d59b_c901e00f77d84b79a8d7d6fc5b2f83af_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401555512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401555504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401555520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401555537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401555547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401555527893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking, brake gently to a stop, and slightly offset to the left." + } + ] + }, + { + "id": "c6c092a66329470f836714f46b92d59b_c901e00f77d84b79a8d7d6fc5b2f83af_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401555512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401555504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401555520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401555537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401555547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401555527893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "9a0d2af517ff44f587c93254ee657215_b22ea54c5464480698925e43fdb60f2a_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729432612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729432604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729432620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729432637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729432647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729432628120.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white truck to the front of the ego vehicle, a yellow and white bus to the back of the ego vehicle, a white pickup truck to the front of the ego vehicle, a white sedan to the front left of the ego vehicle, and a person wearing a yellow top and gray pants to the front of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "9a0d2af517ff44f587c93254ee657215_b22ea54c5464480698925e43fdb60f2a_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729432612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729432604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729432620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729432637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729432647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729432628120.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "9a0d2af517ff44f587c93254ee657215_b22ea54c5464480698925e43fdb60f2a_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729432612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729432604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729432620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729432637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729432647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729432628120.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "9a0d2af517ff44f587c93254ee657215_b22ea54c5464480698925e43fdb60f2a_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729432612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729432604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729432620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729432637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729432647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729432628120.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability." + } + ] + }, + { + "id": "9a0d2af517ff44f587c93254ee657215_b22ea54c5464480698925e43fdb60f2a_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729432612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729432604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729432620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729432637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729432647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729432628120.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerate and go straight can lead to a collision with ." + } + ] + }, + { + "id": "9a0d2af517ff44f587c93254ee657215_b22ea54c5464480698925e43fdb60f2a_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729432612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729432604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729432620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729432637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729432647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729432628120.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, slightly offset to the right." + } + ] + }, + { + "id": "9a0d2af517ff44f587c93254ee657215_b22ea54c5464480698925e43fdb60f2a_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729432612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729432604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729432620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729432637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729432647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729432628120.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving slowly." + } + ] + }, + { + "id": "17302a41218442ffbb0b094adb0669ab_8d52c5a0c78a442791e011d0a132bc9b_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280158112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280158104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280158120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280158137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280158147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280158127893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white truck to the front of the ego vehicle, a white business car to the front of the ego vehicle, and a man wearing a black jacket riding a motorcycle to the front right of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "17302a41218442ffbb0b094adb0669ab_8d52c5a0c78a442791e011d0a132bc9b_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280158112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280158104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280158120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280158137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280158147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280158127893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "17302a41218442ffbb0b094adb0669ab_8d52c5a0c78a442791e011d0a132bc9b_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280158112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280158104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280158120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280158137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280158147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280158127893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . It is going ahead, so the ego vehicle should continue at the same speed. Secondly, notice . It is stationary, so the ego vehicle should continue at the same speed. Thirdly, notice . It is stationary, so the ego vehicle should continue at the same speed." + } + ] + }, + { + "id": "17302a41218442ffbb0b094adb0669ab_8d52c5a0c78a442791e011d0a132bc9b_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280158112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280158104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280158120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280158137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280158147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280158127893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "17302a41218442ffbb0b094adb0669ab_8d52c5a0c78a442791e011d0a132bc9b_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280158112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280158104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280158120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280158137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280158147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280158127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "17302a41218442ffbb0b094adb0669ab_8d52c5a0c78a442791e011d0a132bc9b_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280158112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280158104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280158120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280158137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280158147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280158127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Slight right turn." + } + ] + }, + { + "id": "17302a41218442ffbb0b094adb0669ab_8d52c5a0c78a442791e011d0a132bc9b_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280158112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280158104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280158120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280158137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280158147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280158127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "17302a41218442ffbb0b094adb0669ab_8d52c5a0c78a442791e011d0a132bc9b_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280158112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280158104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280158120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280158137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280158147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280158127893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." + } + ] + }, + { + "id": "a6fae4900f8e46cba689b59b5bc8a2ab_6d3e88b93ec8457398d0b272fbd8d41a_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296515412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296515404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296515420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296515437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296515447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296515428113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white SUV to the front of the ego vehicle, a white small truck to the front of the ego vehicle, and a blue sedan to the front left of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "a6fae4900f8e46cba689b59b5bc8a2ab_6d3e88b93ec8457398d0b272fbd8d41a_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296515412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296515404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296515420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296515437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296515447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296515428113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "a6fae4900f8e46cba689b59b5bc8a2ab_6d3e88b93ec8457398d0b272fbd8d41a_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296515412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296515404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296515420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296515437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296515447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296515428113.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice . The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice . The object is going ahead, so the ego vehicle should keep going ahead at the same speed." + } + ] + }, + { + "id": "a6fae4900f8e46cba689b59b5bc8a2ab_6d3e88b93ec8457398d0b272fbd8d41a_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296515412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296515404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296515420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296515437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296515447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296515428113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "a6fae4900f8e46cba689b59b5bc8a2ab_6d3e88b93ec8457398d0b272fbd8d41a_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296515412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296515404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296515420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296515437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296515447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296515428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high." + } + ] + }, + { + "id": "a6fae4900f8e46cba689b59b5bc8a2ab_6d3e88b93ec8457398d0b272fbd8d41a_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296515412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296515404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296515420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296515437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296515447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296515428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Changing to the left lane." + } + ] + }, + { + "id": "a6fae4900f8e46cba689b59b5bc8a2ab_6d3e88b93ec8457398d0b272fbd8d41a_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296515412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296515404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296515420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296515437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296515447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296515428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, slightly offset to the left, slightly offset to the right, and turn right." + } + ] + }, + { + "id": "a6fae4900f8e46cba689b59b5bc8a2ab_6d3e88b93ec8457398d0b272fbd8d41a_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296515412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296515404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296515420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296515437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296515447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296515428113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." + } + ] + }, + { + "id": "9771da5dd7bb4657be34365619e39dab_55fc7ab524af4cbe858e6307b7e6de42_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800913412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800913404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800913420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800913437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800913447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800913427893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white sedan car to the front left of the ego vehicle, a white truck to the back of the ego vehicle, a person wearing a black top to the front of the ego vehicle, a white bus to the back of the ego vehicle, a white sedan to the back of the ego vehicle, and a red light to the front left of the ego vehicle. The IDs of these objects are , , , , , and ." + } + ] + }, + { + "id": "9771da5dd7bb4657be34365619e39dab_55fc7ab524af4cbe858e6307b7e6de42_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800913412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800913404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800913420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800913437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800913447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800913427893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "9771da5dd7bb4657be34365619e39dab_55fc7ab524af4cbe858e6307b7e6de42_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800913412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800913404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800913420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800913437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800913447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800913427893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "9771da5dd7bb4657be34365619e39dab_55fc7ab524af4cbe858e6307b7e6de42_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800913412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800913404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800913420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800913437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800913447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800913427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to remain stationary. The reason for this action is to follow the traffic rules, with a high probability." + } + ] + }, + { + "id": "9771da5dd7bb4657be34365619e39dab_55fc7ab524af4cbe858e6307b7e6de42_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800913412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800913404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800913420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800913437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800913447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800913427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Change to the left lane." + } + ] + }, + { + "id": "9771da5dd7bb4657be34365619e39dab_55fc7ab524af4cbe858e6307b7e6de42_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800913412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800913404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800913420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800913437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800913447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800913427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Brake gently to a stop, slightly offset to the right." + } + ] + }, + { + "id": "9771da5dd7bb4657be34365619e39dab_55fc7ab524af4cbe858e6307b7e6de42_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800913412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800913404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800913420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800913437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800913447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800913427893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "448cf480b0b8400a86881d28c2c5f734_948b883cabac47b5b91ea1a4a73b3a60_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915417512465.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915417504917.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915417519956.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915417537570.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915417547295.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915417527813.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a blue and white truck to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a blue truck to the front of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "448cf480b0b8400a86881d28c2c5f734_948b883cabac47b5b91ea1a4a73b3a60_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915417512465.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915417504917.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915417519956.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915417537570.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915417547295.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915417527813.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "448cf480b0b8400a86881d28c2c5f734_948b883cabac47b5b91ea1a4a73b3a60_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915417512465.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915417504917.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915417519956.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915417537570.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915417547295.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915417527813.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "448cf480b0b8400a86881d28c2c5f734_948b883cabac47b5b91ea1a4a73b3a60_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915417512465.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915417504917.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915417519956.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915417537570.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915417547295.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915417527813.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed because there is no safety issue. The probability of taking this action is high." + } + ] + }, + { + "id": "448cf480b0b8400a86881d28c2c5f734_948b883cabac47b5b91ea1a4a73b3a60_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915417512465.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915417504917.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915417519956.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915417537570.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915417547295.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915417527813.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerate and go straight." + } + ] + }, + { + "id": "448cf480b0b8400a86881d28c2c5f734_948b883cabac47b5b91ea1a4a73b3a60_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915417512465.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915417504917.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915417519956.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915417537570.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915417547295.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915417527813.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, accelerate, and proceed." + } + ] + }, + { + "id": "448cf480b0b8400a86881d28c2c5f734_948b883cabac47b5b91ea1a4a73b3a60_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915417512465.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915417504917.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915417519956.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915417537570.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915417547295.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915417527813.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "3014465d5958427aac89c4f15b6050dd_e5b02d74ae654f638ad9b63711958ec6_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297601412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297601404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297601420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297601437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297601447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297601428113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a silver sedan to the back right of the ego vehicle, a white SUV to the front right of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "3014465d5958427aac89c4f15b6050dd_e5b02d74ae654f638ad9b63711958ec6_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297601412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297601404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297601420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297601437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297601447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297601428113.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice . It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice . It is stationary, so the ego vehicle should continue ahead at the same speed." + } + ] + }, + { + "id": "3014465d5958427aac89c4f15b6050dd_e5b02d74ae654f638ad9b63711958ec6_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297601412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297601404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297601420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297601437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297601447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297601428113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "3014465d5958427aac89c4f15b6050dd_e5b02d74ae654f638ad9b63711958ec6_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297601412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297601404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297601420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297601437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297601447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297601428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "3014465d5958427aac89c4f15b6050dd_e5b02d74ae654f638ad9b63711958ec6_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297601412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297601404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297601420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297601437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297601447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297601428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Slight right turn." + } + ] + }, + { + "id": "3014465d5958427aac89c4f15b6050dd_e5b02d74ae654f638ad9b63711958ec6_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297601412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297601404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297601420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297601437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297601447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297601428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "3014465d5958427aac89c4f15b6050dd_e5b02d74ae654f638ad9b63711958ec6_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297601412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297601404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297601420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297601437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297601447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297601428113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_4099d76ae94940f1a5a6bb52bd14b07b_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033785412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033785404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033785420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033785437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033785447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033785427893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a yellow car to the front of the ego vehicle, a silver sedan to the front of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_4099d76ae94940f1a5a6bb52bd14b07b_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033785412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033785404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033785420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033785437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033785447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033785427893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_4099d76ae94940f1a5a6bb52bd14b07b_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033785412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033785404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033785420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033785437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033785447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033785427893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_4099d76ae94940f1a5a6bb52bd14b07b_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033785412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033785404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033785420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033785437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033785447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033785427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, and the probability is high." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_4099d76ae94940f1a5a6bb52bd14b07b_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033785412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033785404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033785420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033785437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033785447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033785427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerating and going straight." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_4099d76ae94940f1a5a6bb52bd14b07b_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033785412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033785404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033785420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033785437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033785447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033785427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed and change to the right lane." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_4099d76ae94940f1a5a6bb52bd14b07b_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033785412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033785404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033785420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033785437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033785447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033785427893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_58cb9f2929034b5eaa3a9671dd9ece8a_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033781362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033781354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033781370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033781387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033781397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033781377893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a yellow car to the front of the ego vehicle, a person with a yellow bag on their back to the back of the ego vehicle, a white truck to the front of the ego vehicle, a white truck to the front of the ego vehicle, and a white bicycle to the front left of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_58cb9f2929034b5eaa3a9671dd9ece8a_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033781362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033781354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033781370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033781387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033781397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033781377893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_58cb9f2929034b5eaa3a9671dd9ece8a_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033781362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033781354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033781370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033781387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033781397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033781377893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_58cb9f2929034b5eaa3a9671dd9ece8a_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033781362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033781354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033781370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033781387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033781397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033781377893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_58cb9f2929034b5eaa3a9671dd9ece8a_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033781362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033781354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033781370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033781387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033781397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033781377893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerating and going straight can lead to a collision with ." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_58cb9f2929034b5eaa3a9671dd9ece8a_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033781362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033781354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033781370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033781387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033781397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033781377893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, accelerate, and proceed." + } + ] + }, + { + "id": "83ffc453d209404781ea4574d77adb22_58cb9f2929034b5eaa3a9671dd9ece8a_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033781362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033781354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033781370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033781387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033781397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033781377893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_a2e937611f7a4f1aaefa64fae1d668a3_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659402862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659402854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659402870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659402887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659402897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659402878113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black SUV to the front of the ego vehicle, a pedestrian crossing the road to the front of the ego vehicle, a gray van to the back of the ego vehicle, a red light to the front of the ego vehicle, and a maximum speed 93, left lane maximum 90 to the front of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_a2e937611f7a4f1aaefa64fae1d668a3_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659402862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659402854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659402870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659402887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659402897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659402878113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_a2e937611f7a4f1aaefa64fae1d668a3_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659402862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659402854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659402870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659402887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659402897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659402878113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_a2e937611f7a4f1aaefa64fae1d668a3_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659402862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659402854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659402870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659402887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659402897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659402878113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to brake gently to a stop. The reason is to follow the traffic rules, and the probability is high." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_a2e937611f7a4f1aaefa64fae1d668a3_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659402862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659402854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659402870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659402887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659402897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659402878113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerate and go straight." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_a2e937611f7a4f1aaefa64fae1d668a3_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659402862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659402854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659402870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659402887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659402897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659402878113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Brake gently to a stop and turn left." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_a2e937611f7a4f1aaefa64fae1d668a3_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659402862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659402854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659402870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659402887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659402897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659402878113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a gray roadblock to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a gray SUV to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice . The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice . The object is going ahead, so the ego vehicle should continue ahead at the same speed." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "Yes." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Back up." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right." + } + ] + }, + { + "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "8b43539a55374b6c8ed60c95a42d63a2_da4e11131fc443f3b2455aadac826e91_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402473112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402473104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402473120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402473137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402473147487.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402473127893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black motorcycle to the front right of the ego vehicle, a blue and white sedan to the front right of the ego vehicle, a white truck to the front left of the ego vehicle, a green light to the front right of the ego vehicle, and a green light to the front left of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "8b43539a55374b6c8ed60c95a42d63a2_da4e11131fc443f3b2455aadac826e91_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402473112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402473104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402473120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402473137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402473147487.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402473127893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "8b43539a55374b6c8ed60c95a42d63a2_da4e11131fc443f3b2455aadac826e91_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402473112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402473104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402473120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402473137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402473147487.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402473127893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "8b43539a55374b6c8ed60c95a42d63a2_da4e11131fc443f3b2455aadac826e91_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402473112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402473104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402473120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402473137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402473147487.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402473127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, and the probability is high." + } + ] + }, + { + "id": "8b43539a55374b6c8ed60c95a42d63a2_da4e11131fc443f3b2455aadac826e91_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402473112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402473104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402473120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402473137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402473147487.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402473127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Sharp right turn." + } + ] + }, + { + "id": "8b43539a55374b6c8ed60c95a42d63a2_da4e11131fc443f3b2455aadac826e91_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402473112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402473104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402473120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402473137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402473147487.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402473127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed and turn right." + } + ] + }, + { + "id": "8b43539a55374b6c8ed60c95a42d63a2_da4e11131fc443f3b2455aadac826e91_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402473112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402473104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402473120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402473137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402473147487.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402473127893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is steering to the left. The ego vehicle is driving with normal speed." + } + ] + }, + { + "id": "04e5f089805540a5a9e73c1b7c54ee8c_31e543b3c4544f33822e046577534d49_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801264412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801264404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801264420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801264437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801264447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801264427893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white van to the front of the ego vehicle, a white SUV to the front right of the ego vehicle, and a blue SUV to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "04e5f089805540a5a9e73c1b7c54ee8c_31e543b3c4544f33822e046577534d49_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801264412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801264404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801264420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801264437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801264447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801264427893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "04e5f089805540a5a9e73c1b7c54ee8c_31e543b3c4544f33822e046577534d49_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801264412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801264404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801264420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801264437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801264447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801264427893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that . The object is going ahead, so the ego vehicle should continue going ahead at the same speed." + } + ] + }, + { + "id": "04e5f089805540a5a9e73c1b7c54ee8c_31e543b3c4544f33822e046577534d49_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801264412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801264404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801264420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801264437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801264447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801264427893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "04e5f089805540a5a9e73c1b7c54ee8c_31e543b3c4544f33822e046577534d49_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801264412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801264404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801264420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801264437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801264447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801264427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability of this action is high." + } + ] + }, + { + "id": "04e5f089805540a5a9e73c1b7c54ee8c_31e543b3c4544f33822e046577534d49_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801264412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801264404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801264420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801264437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801264447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801264427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerate and go straight." + } + ] + }, + { + "id": "04e5f089805540a5a9e73c1b7c54ee8c_31e543b3c4544f33822e046577534d49_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801264412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801264404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801264420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801264437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801264447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801264427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right." + } + ] + }, + { + "id": "04e5f089805540a5a9e73c1b7c54ee8c_31e543b3c4544f33822e046577534d49_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801264412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801264404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801264420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801264437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801264447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801264427893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "0053e9c440a94c1b84bd9c4223efc4b0_49adf27d0c614e64ac0f982f1d020c01_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708444912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708444904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708444920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708444937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708444947471.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708444928113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black car to the back of the ego vehicle, a white truck to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "0053e9c440a94c1b84bd9c4223efc4b0_49adf27d0c614e64ac0f982f1d020c01_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708444912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708444904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708444920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708444937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708444947471.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708444928113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Turn right." + } + ] + }, + { + "id": "0053e9c440a94c1b84bd9c4223efc4b0_49adf27d0c614e64ac0f982f1d020c01_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708444912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708444904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708444920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708444937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708444947471.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708444928113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "0053e9c440a94c1b84bd9c4223efc4b0_49adf27d0c614e64ac0f982f1d020c01_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708444912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708444904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708444920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708444937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708444947471.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708444928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high." + } + ] + }, + { + "id": "0053e9c440a94c1b84bd9c4223efc4b0_49adf27d0c614e64ac0f982f1d020c01_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708444912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708444904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708444920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708444937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708444947471.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708444928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Brake suddenly." + } + ] + }, + { + "id": "0053e9c440a94c1b84bd9c4223efc4b0_49adf27d0c614e64ac0f982f1d020c01_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708444912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708444904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708444920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708444937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708444947471.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708444928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "0053e9c440a94c1b84bd9c4223efc4b0_49adf27d0c614e64ac0f982f1d020c01_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708444912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708444904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708444920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708444937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708444947471.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708444928113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving slowly." + } + ] + }, + { + "id": "e233467e827140efa4b42d2b4c435855_93f4f8ac1145418cadcf14dfd2a9cf78_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801001912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801001904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801001920344.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801001937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801001947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801001927893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a person riding a motorcycle to the front of the ego vehicle, a white van to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "e233467e827140efa4b42d2b4c435855_93f4f8ac1145418cadcf14dfd2a9cf78_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801001912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801001904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801001920344.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801001937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801001947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801001927893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "e233467e827140efa4b42d2b4c435855_93f4f8ac1145418cadcf14dfd2a9cf78_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801001912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801001904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801001920344.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801001937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801001947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801001927893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is going ahead, so the ego vehicle should remain stationary. Secondly, notice that . The object is a traffic sign, so the ego vehicle should remain stationary. Thirdly, notice that . The object is going ahead, so the ego vehicle should remain stationary." + } + ] + }, + { + "id": "e233467e827140efa4b42d2b4c435855_93f4f8ac1145418cadcf14dfd2a9cf78_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801001912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801001904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801001920344.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801001937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801001947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801001927893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "e233467e827140efa4b42d2b4c435855_93f4f8ac1145418cadcf14dfd2a9cf78_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801001912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801001904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801001920344.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801001937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801001947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801001927893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "e233467e827140efa4b42d2b4c435855_93f4f8ac1145418cadcf14dfd2a9cf78_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801001912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801001904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801001920344.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801001937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801001947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801001927893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerating and going straight." + } + ] + }, + { + "id": "e233467e827140efa4b42d2b4c435855_93f4f8ac1145418cadcf14dfd2a9cf78_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801001912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801001904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801001920344.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801001937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801001947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801001927893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "e233467e827140efa4b42d2b4c435855_93f4f8ac1145418cadcf14dfd2a9cf78_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801001912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801001904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801001920344.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801001937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801001947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542801001927893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "f0294478e1994642bac453f1e84610df_15d2ab8ae8a042be99bd1aa33e2eaba1_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202666612460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202666604844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202666620339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202666637525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202666647423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202666627893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There are pedestrians crossing the road to the front of the ego vehicle, a green truck to the back of the ego vehicle, a woman wearing a black top to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "f0294478e1994642bac453f1e84610df_15d2ab8ae8a042be99bd1aa33e2eaba1_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202666612460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202666604844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202666620339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202666637525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202666647423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202666627893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "f0294478e1994642bac453f1e84610df_15d2ab8ae8a042be99bd1aa33e2eaba1_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202666612460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202666604844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202666620339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202666637525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202666647423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202666627893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "f0294478e1994642bac453f1e84610df_15d2ab8ae8a042be99bd1aa33e2eaba1_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202666612460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202666604844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202666620339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202666637525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202666647423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202666627893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to remain stationary because there is no safety issue. The probability of this action is high." + } + ] + }, + { + "id": "f0294478e1994642bac453f1e84610df_15d2ab8ae8a042be99bd1aa33e2eaba1_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202666612460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202666604844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202666620339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202666637525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202666647423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202666627893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerate and go straight." + } + ] + }, + { + "id": "f0294478e1994642bac453f1e84610df_15d2ab8ae8a042be99bd1aa33e2eaba1_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202666612460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202666604844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202666620339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202666637525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202666647423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202666627893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Slightly offset to the left, slightly offset to the right are safe actions to take for the ego vehicle in this scenario." + } + ] + }, + { + "id": "f0294478e1994642bac453f1e84610df_15d2ab8ae8a042be99bd1aa33e2eaba1_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202666612460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202666604844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202666620339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202666637525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202666647423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202666627893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "3673601f263947fd9259640bd55622bd_80083820d24c41e9a603e45abca5548a_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573875912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573875904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573875920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573875937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573875947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573875928113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black car to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, a white sedan to the back right of the ego vehicle, a black sedan to the front of the ego vehicle, a black sedan car to the front right of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are , , , , , and ." + } + ] + }, + { + "id": "3673601f263947fd9259640bd55622bd_80083820d24c41e9a603e45abca5548a_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573875912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573875904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573875920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573875937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573875947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573875928113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "3673601f263947fd9259640bd55622bd_80083820d24c41e9a603e45abca5548a_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573875912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573875904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573875920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573875937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573875947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573875928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to remain stationary. The reason for taking this action is to follow the traffic rules. The probability of taking this action is high." + } + ] + }, + { + "id": "3673601f263947fd9259640bd55622bd_80083820d24c41e9a603e45abca5548a_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573875912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573875904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573875920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573875937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573875947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573875928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerating and going straight can lead to a collision with ." + } + ] + }, + { + "id": "3673601f263947fd9259640bd55622bd_80083820d24c41e9a603e45abca5548a_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573875912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573875904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573875920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573875937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573875947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573875928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Brake gently to a stop, slightly offset to the left." + } + ] + }, + { + "id": "3673601f263947fd9259640bd55622bd_80083820d24c41e9a603e45abca5548a_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573875912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573875904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573875920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573875937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573875947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573875928113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "ceca737af78440118b7b394a54723454_c96f5b50d4674be2912fc1116324c150_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033878512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033878504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033878520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033878537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033878547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033878527893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white sedan to the back of the ego vehicle, a silver sedan to the front of the ego vehicle, and a yellow mailbox to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "ceca737af78440118b7b394a54723454_c96f5b50d4674be2912fc1116324c150_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033878512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033878504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033878520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033878537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033878547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033878527893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "ceca737af78440118b7b394a54723454_c96f5b50d4674be2912fc1116324c150_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033878512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033878504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033878520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033878537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033878547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033878527893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly notice that . The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Secondly notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed." + } + ] + }, + { + "id": "ceca737af78440118b7b394a54723454_c96f5b50d4674be2912fc1116324c150_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033878512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033878504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033878520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033878537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033878547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033878527893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "ceca737af78440118b7b394a54723454_c96f5b50d4674be2912fc1116324c150_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033878512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033878504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033878520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033878537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033878547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033878527893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, which is high." + } + ] + }, + { + "id": "ceca737af78440118b7b394a54723454_c96f5b50d4674be2912fc1116324c150_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033878512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033878504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033878520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033878537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033878547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033878527893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Brake suddenly." + } + ] + }, + { + "id": "ceca737af78440118b7b394a54723454_c96f5b50d4674be2912fc1116324c150_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033878512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033878504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033878520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033878537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033878547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033878527893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed." + } + ] + }, + { + "id": "ceca737af78440118b7b394a54723454_c96f5b50d4674be2912fc1116324c150_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033878512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033878504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033878520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033878537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033878547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033878527893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "2eb0dd074d8e4a328fd2283184c4412e_bf4e261314a843b4a4c318957f0dac47_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292618912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292618904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292618920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292618937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292618947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292618928113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black car to the front of the ego vehicle, a gray sedan car to the front of the ego vehicle, a black sedan to the front left of the ego vehicle, and a red sign to the back of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "2eb0dd074d8e4a328fd2283184c4412e_bf4e261314a843b4a4c318957f0dac47_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292618912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292618904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292618920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292618937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292618947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292618928113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "2eb0dd074d8e4a328fd2283184c4412e_bf4e261314a843b4a4c318957f0dac47_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292618912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292618904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292618920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292618937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292618947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292618928113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "2eb0dd074d8e4a328fd2283184c4412e_bf4e261314a843b4a4c318957f0dac47_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292618912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292618904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292618920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292618937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292618947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292618928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to turn right. The reason is that there is no safety issue, and the probability of this action is high." + } + ] + }, + { + "id": "2eb0dd074d8e4a328fd2283184c4412e_bf4e261314a843b4a4c318957f0dac47_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292618912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292618904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292618920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292618937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292618947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292618928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerating and going straight." + } + ] + }, + { + "id": "2eb0dd074d8e4a328fd2283184c4412e_bf4e261314a843b4a4c318957f0dac47_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292618912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292618904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292618920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292618937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292618947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292618928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "2eb0dd074d8e4a328fd2283184c4412e_bf4e261314a843b4a4c318957f0dac47_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292618912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292618904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292618920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292618937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292618947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292618928113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "482edf83eb664fdf90204c1830abe648_cbfd955556f24d8e850a3cbfb5c5acc7_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290945662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290945654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290945670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290945687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290945697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290945678113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a gray SUV to the front of the ego vehicle, a white motorhome to the front of the ego vehicle, and a bicycle to the front right of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "482edf83eb664fdf90204c1830abe648_cbfd955556f24d8e850a3cbfb5c5acc7_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290945662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290945654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290945670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290945687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290945697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290945678113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "482edf83eb664fdf90204c1830abe648_cbfd955556f24d8e850a3cbfb5c5acc7_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290945662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290945654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290945670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290945687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290945697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290945678113.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that . The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that . The object is moving ahead, so the ego vehicle should continue ahead at the same speed." + } + ] + }, + { + "id": "482edf83eb664fdf90204c1830abe648_cbfd955556f24d8e850a3cbfb5c5acc7_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290945662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290945654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290945670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290945687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290945697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290945678113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "482edf83eb664fdf90204c1830abe648_cbfd955556f24d8e850a3cbfb5c5acc7_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290945662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290945654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290945670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290945687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290945697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290945678113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "482edf83eb664fdf90204c1830abe648_cbfd955556f24d8e850a3cbfb5c5acc7_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290945662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290945654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290945670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290945687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290945697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290945678113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Changing to the left lane." + } + ] + }, + { + "id": "482edf83eb664fdf90204c1830abe648_cbfd955556f24d8e850a3cbfb5c5acc7_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290945662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290945654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290945670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290945687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290945697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290945678113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, accelerate and go ahead, decelerate gradually without braking, slightly offset to the left, or slightly offset to the right." + } + ] + }, + { + "id": "482edf83eb664fdf90204c1830abe648_cbfd955556f24d8e850a3cbfb5c5acc7_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290945662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290945654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290945670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290945687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290945697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290945678113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "1ec0b9bc3eca4b76b2610c519f843762_a6176dbfbeb44e11a42282a4c4fbeb45_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478129162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478129154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478129170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478129187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478129197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478129178113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There are pedestrians crossing the road to the front right of the ego vehicle, a white truck to the back of the ego vehicle, a road is relatively empty to the back of the ego vehicle, a white and black car to the back of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "1ec0b9bc3eca4b76b2610c519f843762_a6176dbfbeb44e11a42282a4c4fbeb45_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478129162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478129154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478129170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478129187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478129197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478129178113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "1ec0b9bc3eca4b76b2610c519f843762_a6176dbfbeb44e11a42282a4c4fbeb45_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478129162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478129154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478129170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478129187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478129197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478129178113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "1ec0b9bc3eca4b76b2610c519f843762_a6176dbfbeb44e11a42282a4c4fbeb45_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478129162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478129154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478129170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478129187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478129197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478129178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to turn left. The reason is that the object has little reference value for the ego vehicle, with a high probability." + } + ] + }, + { + "id": "1ec0b9bc3eca4b76b2610c519f843762_a6176dbfbeb44e11a42282a4c4fbeb45_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478129162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478129154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478129170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478129187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478129197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478129178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Sharp right turn." + } + ] + }, + { + "id": "1ec0b9bc3eca4b76b2610c519f843762_a6176dbfbeb44e11a42282a4c4fbeb45_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478129162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478129154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478129170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478129187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478129197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478129178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, turn left, accelerate and go ahead, decelerate gradually without braking." + } + ] + }, + { + "id": "1ec0b9bc3eca4b76b2610c519f843762_a6176dbfbeb44e11a42282a4c4fbeb45_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478129162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478129154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478129170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478129187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478129197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478129178113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is steering to the left. The ego vehicle is driving with normal speed." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_da73249615da477f85a0821852ca8d3b_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034031112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034031104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034031120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034031137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034031147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034031127893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a red and white sign to the back left of the ego vehicle, a signpost to the front left of the ego vehicle, and a blue-green signpost to the back right of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_da73249615da477f85a0821852ca8d3b_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034031112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034031104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034031120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034031137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034031147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034031127893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice . The object is also a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice . The object is a traffic sign, so the ego vehicle should continue ahead at the same speed." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_da73249615da477f85a0821852ca8d3b_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034031112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034031104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034031120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034031137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034031147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034031127893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "Yes." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_da73249615da477f85a0821852ca8d3b_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034031112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034031104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034031120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034031137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034031147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034031127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, slightly offset to the right, and slightly offset to the left." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_da73249615da477f85a0821852ca8d3b_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034031112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034031104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034031120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034031137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034031147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034031127893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_c3fecd7ce573419bb8e545a238133115_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034018162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034018154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034018170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034018187526.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034018197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034018177893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a staff member to the front of the ego vehicle, a blue truck to the front of the ego vehicle, and a white traffic sign to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_c3fecd7ce573419bb8e545a238133115_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034018162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034018154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034018170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034018187526.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034018197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034018177893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is stationary, so the ego vehicle should slow down and continue forward. Secondly, notice that . The object is a traffic sign, so the ego vehicle should continue forward at the same speed. Thirdly, notice that . The object is stationary, so the ego vehicle should continue forward at the same speed." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_c3fecd7ce573419bb8e545a238133115_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034018162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034018154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034018170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034018187526.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034018197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034018177893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_c3fecd7ce573419bb8e545a238133115_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034018162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034018154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034018170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034018187526.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034018197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034018177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to decelerate gradually without braking. The reason is to avoid a collision. The probability is high." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_c3fecd7ce573419bb8e545a238133115_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034018162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034018154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034018170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034018187526.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034018197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034018177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Moderate left turn." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_c3fecd7ce573419bb8e545a238133115_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034018162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034018154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034018170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034018187526.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034018197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034018177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "b526c20f7eed49f0886cdb4ba6b733e8_c3fecd7ce573419bb8e545a238133115_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034018162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034018154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034018170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034018187526.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034018197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034018177893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "a1ca2ba59ac9452fb3da60019bf32c71_e77c7b4760214b3eaf42f8ca80899127_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112401162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112401154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112401170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112401187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112401197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112401177893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is an orange bus to the front of the ego vehicle, pedestrians preparing to cross the road to the front right of the ego vehicle, and a turn left and then turn right to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "a1ca2ba59ac9452fb3da60019bf32c71_e77c7b4760214b3eaf42f8ca80899127_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112401162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112401154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112401170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112401187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112401197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112401177893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "a1ca2ba59ac9452fb3da60019bf32c71_e77c7b4760214b3eaf42f8ca80899127_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112401162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112401154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112401170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112401187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112401197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112401177893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed." + } + ] + }, + { + "id": "a1ca2ba59ac9452fb3da60019bf32c71_e77c7b4760214b3eaf42f8ca80899127_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112401162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112401154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112401170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112401187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112401197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112401177893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "a1ca2ba59ac9452fb3da60019bf32c71_e77c7b4760214b3eaf42f8ca80899127_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112401162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112401154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112401170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112401187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112401197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112401177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision, with a high probability." + } + ] + }, + { + "id": "a1ca2ba59ac9452fb3da60019bf32c71_e77c7b4760214b3eaf42f8ca80899127_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112401162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112401154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112401170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112401187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112401197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112401177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Slight right turn." + } + ] + }, + { + "id": "a1ca2ba59ac9452fb3da60019bf32c71_e77c7b4760214b3eaf42f8ca80899127_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112401162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112401154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112401170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112401187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112401197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112401177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Decelerate gradually without braking." + } + ] + }, + { + "id": "a1ca2ba59ac9452fb3da60019bf32c71_e77c7b4760214b3eaf42f8ca80899127_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112401162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112401154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112401170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112401187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112401197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112401177893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "cf652a711c8e40209132036a95162fed_8a66617fd74146e3823bfb9570c8b60a_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986122262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986122254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986122270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986122287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986122297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986122277893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a red car to the back of the ego vehicle, a blue car to the front of the ego vehicle, and a yellow and blue bus to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "cf652a711c8e40209132036a95162fed_8a66617fd74146e3823bfb9570c8b60a_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986122262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986122254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986122270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986122287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986122297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986122277893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "cf652a711c8e40209132036a95162fed_8a66617fd74146e3823bfb9570c8b60a_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986122262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986122254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986122270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986122287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986122297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986122277893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed." + } + ] + }, + { + "id": "cf652a711c8e40209132036a95162fed_8a66617fd74146e3823bfb9570c8b60a_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986122262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986122254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986122270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986122287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986122297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986122277893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "cf652a711c8e40209132036a95162fed_8a66617fd74146e3823bfb9570c8b60a_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986122262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986122254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986122270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986122287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986122297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986122277893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability." + } + ] + }, + { + "id": "cf652a711c8e40209132036a95162fed_8a66617fd74146e3823bfb9570c8b60a_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986122262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986122254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986122270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986122287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986122297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986122277893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Brake suddenly." + } + ] + }, + { + "id": "cf652a711c8e40209132036a95162fed_8a66617fd74146e3823bfb9570c8b60a_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986122262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986122254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986122270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986122287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986122297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986122277893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "cf652a711c8e40209132036a95162fed_8a66617fd74146e3823bfb9570c8b60a_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986122262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986122254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986122270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986122287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986122297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986122277893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving with normal speed." + } + ] + }, + { + "id": "126aa95f38b649fa857d48672c8ad808_8e7aac8bf2c74349929ef6ec84831ad0_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193427412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193427404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193427420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193427437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193427447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193427427893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white sedan to the front of the ego vehicle, a white van to the back of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "126aa95f38b649fa857d48672c8ad808_8e7aac8bf2c74349929ef6ec84831ad0_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193427412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193427404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193427420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193427437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193427447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193427427893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "126aa95f38b649fa857d48672c8ad808_8e7aac8bf2c74349929ef6ec84831ad0_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193427412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193427404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193427420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193427437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193427447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193427427893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed." + } + ] + }, + { + "id": "126aa95f38b649fa857d48672c8ad808_8e7aac8bf2c74349929ef6ec84831ad0_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193427412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193427404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193427420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193427437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193427447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193427427893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "126aa95f38b649fa857d48672c8ad808_8e7aac8bf2c74349929ef6ec84831ad0_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193427412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193427404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193427420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193427437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193427447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193427427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed; the reason is that there is no safety issue, high." + } + ] + }, + { + "id": "126aa95f38b649fa857d48672c8ad808_8e7aac8bf2c74349929ef6ec84831ad0_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193427412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193427404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193427420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193427437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193427447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193427427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Changing to the right lane." + } + ] + }, + { + "id": "126aa95f38b649fa857d48672c8ad808_8e7aac8bf2c74349929ef6ec84831ad0_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193427412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193427404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193427420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193427437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193427447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193427427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, accelerate, and proceed." + } + ] + }, + { + "id": "126aa95f38b649fa857d48672c8ad808_8e7aac8bf2c74349929ef6ec84831ad0_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193427412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193427404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193427420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193427437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193427447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193427427893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." + } + ] + }, + { + "id": "261e8288cf5647e396ab584e210e4ba1_91adc6ef5a244dc5b1435522461527ba_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985736162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985736154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985736170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985736187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985736197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985736177893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a red car to the back of the ego vehicle, a brown sedan to the back of the ego vehicle, and pedestrians waiting for a bus to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "261e8288cf5647e396ab584e210e4ba1_91adc6ef5a244dc5b1435522461527ba_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985736162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985736154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985736170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985736187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985736197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985736177893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "261e8288cf5647e396ab584e210e4ba1_91adc6ef5a244dc5b1435522461527ba_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985736162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985736154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985736170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985736187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985736197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985736177893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly notice that . The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed." + } + ] + }, + { + "id": "261e8288cf5647e396ab584e210e4ba1_91adc6ef5a244dc5b1435522461527ba_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985736162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985736154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985736170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985736187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985736197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985736177893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "261e8288cf5647e396ab584e210e4ba1_91adc6ef5a244dc5b1435522461527ba_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985736162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985736154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985736170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985736187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985736197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985736177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason for this action is that the object has little reference value for the ego vehicle, which is high in probability." + } + ] + }, + { + "id": "261e8288cf5647e396ab584e210e4ba1_91adc6ef5a244dc5b1435522461527ba_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985736162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985736154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985736170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985736187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985736197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985736177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "No such action will lead to a collision." + } + ] + }, + { + "id": "261e8288cf5647e396ab584e210e4ba1_91adc6ef5a244dc5b1435522461527ba_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985736162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985736154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985736170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985736187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985736197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985736177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, brake gently to a stop, slightly offset to the left, slightly offset to the right, accelerate and go ahead, or back up." + } + ] + }, + { + "id": "261e8288cf5647e396ab584e210e4ba1_91adc6ef5a244dc5b1435522461527ba_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985736162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985736154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985736170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985736187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985736197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985736177893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "93bdbe60d6d0495cbb39d6c811554905_94601f451fed42b6b91b8ec2cb622cd3_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867278412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867278404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867278420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867278437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867278447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867278428113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a silver SUV to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a white sedan to the front left of the ego vehicle, a yellow alien-shaped car to the front right of the ego vehicle, and a black business car to the front of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "93bdbe60d6d0495cbb39d6c811554905_94601f451fed42b6b91b8ec2cb622cd3_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867278412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867278404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867278420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867278437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867278447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867278428113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "93bdbe60d6d0495cbb39d6c811554905_94601f451fed42b6b91b8ec2cb622cd3_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867278412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867278404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867278420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867278437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867278447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867278428113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "93bdbe60d6d0495cbb39d6c811554905_94601f451fed42b6b91b8ec2cb622cd3_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867278412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867278404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867278420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867278437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867278447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867278428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, and the probability is high." + } + ] + }, + { + "id": "93bdbe60d6d0495cbb39d6c811554905_94601f451fed42b6b91b8ec2cb622cd3_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867278412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867278404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867278420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867278437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867278447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867278428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Brake suddenly." + } + ] + }, + { + "id": "93bdbe60d6d0495cbb39d6c811554905_94601f451fed42b6b91b8ec2cb622cd3_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867278412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867278404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867278420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867278437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867278447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867278428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking, and change to the right lane." + } + ] + }, + { + "id": "93bdbe60d6d0495cbb39d6c811554905_94601f451fed42b6b91b8ec2cb622cd3_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867278412404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867278404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867278420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867278437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867278447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867278428113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "fb3aaad97849430cbc32891319c9be10_aa60727beb8841f8a42d07f9946c5129_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708460262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708460254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708460270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708460287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708460297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708460278143.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black SUV to the back of the ego vehicle, a pedestrian crossing the road to the front of the ego vehicle, a black SUV to the front of the ego vehicle, a gray SUV to the back of the ego vehicle, a sporty pedestrian to the front right of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are , , , , , and ." + } + ] + }, + { + "id": "fb3aaad97849430cbc32891319c9be10_aa60727beb8841f8a42d07f9946c5129_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708460262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708460254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708460270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708460287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708460297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708460278143.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "fb3aaad97849430cbc32891319c9be10_aa60727beb8841f8a42d07f9946c5129_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708460262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708460254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708460270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708460287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708460297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708460278143.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "fb3aaad97849430cbc32891319c9be10_aa60727beb8841f8a42d07f9946c5129_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708460262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708460254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708460270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708460287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708460297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708460278143.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "fb3aaad97849430cbc32891319c9be10_aa60727beb8841f8a42d07f9946c5129_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708460262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708460254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708460270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708460287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708460297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708460278143.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Back up." + } + ] + }, + { + "id": "fb3aaad97849430cbc32891319c9be10_aa60727beb8841f8a42d07f9946c5129_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708460262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708460254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708460270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708460287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708460297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708460278143.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, slightly offset to the right, and change to the right lane." + } + ] + }, + { + "id": "fb3aaad97849430cbc32891319c9be10_aa60727beb8841f8a42d07f9946c5129_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708460262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708460254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708460270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708460287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708460297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708460278143.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "9ac6dff089a84a6d8f066122443a10db_aa3a505d0e8845cf88a0036017ec7e0c_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985207262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985207254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985207270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985207287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985207297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985207277893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black car to the back of the ego vehicle, a girl in black top to the back right of the ego vehicle, a woman wearing a black top to the front of the ego vehicle, a black blouse woman to the front of the ego vehicle, and a white letters to the front right of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "9ac6dff089a84a6d8f066122443a10db_aa3a505d0e8845cf88a0036017ec7e0c_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985207262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985207254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985207270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985207287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985207297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985207277893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "9ac6dff089a84a6d8f066122443a10db_aa3a505d0e8845cf88a0036017ec7e0c_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985207262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985207254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985207270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985207287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985207297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985207277893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "9ac6dff089a84a6d8f066122443a10db_aa3a505d0e8845cf88a0036017ec7e0c_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985207262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985207254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985207270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985207287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985207297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985207277893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "9ac6dff089a84a6d8f066122443a10db_aa3a505d0e8845cf88a0036017ec7e0c_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985207262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985207254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985207270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985207287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985207297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985207277893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Brake suddenly." + } + ] + }, + { + "id": "9ac6dff089a84a6d8f066122443a10db_aa3a505d0e8845cf88a0036017ec7e0c_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985207262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985207254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985207270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985207287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985207297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985207277893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed." + } + ] + }, + { + "id": "9ac6dff089a84a6d8f066122443a10db_aa3a505d0e8845cf88a0036017ec7e0c_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985207262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985207254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985207270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985207287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985207297423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985207277893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving with normal speed." + } + ] + }, + { + "id": "08110c8640454affb5167801442a85fd_97fc9e18aa474e589c80dd6ca880412d_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385038162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385038154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385038170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385038187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385038197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385038178113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black car to the back of the ego vehicle, a people crossing the road to the front of the ego vehicle, a gray car to the front of the ego vehicle, a black SUV to the front of the ego vehicle, a people preparing to cross the road to the front of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are , , , , , and ." + } + ] + }, + { + "id": "08110c8640454affb5167801442a85fd_97fc9e18aa474e589c80dd6ca880412d_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385038162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385038154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385038170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385038187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385038197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385038178113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "08110c8640454affb5167801442a85fd_97fc9e18aa474e589c80dd6ca880412d_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385038162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385038154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385038170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385038187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385038197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385038178113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "08110c8640454affb5167801442a85fd_97fc9e18aa474e589c80dd6ca880412d_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385038162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385038154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385038170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385038187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385038197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385038178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability." + } + ] + }, + { + "id": "08110c8640454affb5167801442a85fd_97fc9e18aa474e589c80dd6ca880412d_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385038162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385038154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385038170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385038187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385038197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385038178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Brake suddenly." + } + ] + }, + { + "id": "08110c8640454affb5167801442a85fd_97fc9e18aa474e589c80dd6ca880412d_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385038162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385038154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385038170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385038187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385038197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385038178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Decelerate gradually without braking." + } + ] + }, + { + "id": "08110c8640454affb5167801442a85fd_97fc9e18aa474e589c80dd6ca880412d_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385038162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385038154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385038170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385038187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385038197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385038178113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving slowly." + } + ] + }, + { + "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_b3b29fa2928c4bdba8b657112c1cc222_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white sedan to the front right of the ego vehicle, a black SUV to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_b3b29fa2928c4bdba8b657112c1cc222_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Turn right." + } + ] + }, + { + "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_b3b29fa2928c4bdba8b657112c1cc222_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly notice . It is going ahead, so the ego vehicle should turn left. Secondly notice . It is turning right, so the ego vehicle should turn left. Thirdly notice . It is going ahead, so the ego vehicle should turn left." + } + ] + }, + { + "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_b3b29fa2928c4bdba8b657112c1cc222_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_b3b29fa2928c4bdba8b657112c1cc222_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to turn left. The reason is that there is no safety issue, which is high probability." + } + ] + }, + { + "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_b3b29fa2928c4bdba8b657112c1cc222_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "No action taken by the ego vehicle will lead to a collision with ." + } + ] + }, + { + "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_b3b29fa2928c4bdba8b657112c1cc222_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Turn left, decelerate gradually without braking, are safe actions to take for the ego vehicle in this scenario." + } + ] + }, + { + "id": "fdf27bbde3e345bd9ac83cbe9a3c813a_b3b29fa2928c4bdba8b657112c1cc222_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is steering to the left. The ego vehicle is driving with normal speed." + } + ] + }, + { + "id": "4b48dfc43a3f411b88a71031d77e5696_2fc221d653f64fc984ce078b0c425309_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662227912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662227904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662227920339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662227937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662227947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662227927893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white car to the back of the ego vehicle, a green bus to the back of the ego vehicle, and a person riding a motorcycle to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "4b48dfc43a3f411b88a71031d77e5696_2fc221d653f64fc984ce078b0c425309_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662227912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662227904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662227920339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662227937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662227947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662227927893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "4b48dfc43a3f411b88a71031d77e5696_2fc221d653f64fc984ce078b0c425309_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662227912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662227904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662227920339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662227937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662227947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662227927893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that . The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that . The object is going ahead, so the ego vehicle should continue going ahead at the same speed." + } + ] + }, + { + "id": "4b48dfc43a3f411b88a71031d77e5696_2fc221d653f64fc984ce078b0c425309_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662227912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662227904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662227920339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662227937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662227947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662227927893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "4b48dfc43a3f411b88a71031d77e5696_2fc221d653f64fc984ce078b0c425309_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662227912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662227904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662227920339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662227937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662227947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662227927893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability." + } + ] + }, + { + "id": "4b48dfc43a3f411b88a71031d77e5696_2fc221d653f64fc984ce078b0c425309_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662227912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662227904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662227920339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662227937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662227947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662227927893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "No such action will lead to a collision." + } + ] + }, + { + "id": "4b48dfc43a3f411b88a71031d77e5696_2fc221d653f64fc984ce078b0c425309_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662227912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662227904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662227920339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662227937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662227947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662227927893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "4b48dfc43a3f411b88a71031d77e5696_2fc221d653f64fc984ce078b0c425309_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662227912460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662227904844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662227920339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662227937525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662227947423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662227927893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the right. The ego vehicle is driving fast." + } + ] + }, + { + "id": "4047f251c21a475abb49518e0fa6fa9e_92887f8ce86e45a2ab8d417c5c39aef2_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402134112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402134104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402134120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402134137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402134147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402134127893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There are pedestrians crossing the road to the front right of the ego vehicle, a roadblock to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a still pedestrian to the front left of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "4047f251c21a475abb49518e0fa6fa9e_92887f8ce86e45a2ab8d417c5c39aef2_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402134112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402134104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402134120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402134137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402134147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402134127893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "4047f251c21a475abb49518e0fa6fa9e_92887f8ce86e45a2ab8d417c5c39aef2_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402134112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402134104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402134120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402134137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402134147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402134127893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "4047f251c21a475abb49518e0fa6fa9e_92887f8ce86e45a2ab8d417c5c39aef2_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402134112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402134104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402134120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402134137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402134147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402134127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, which has a high probability." + } + ] + }, + { + "id": "4047f251c21a475abb49518e0fa6fa9e_92887f8ce86e45a2ab8d417c5c39aef2_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402134112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402134104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402134120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402134137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402134147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402134127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Sharp right turn." + } + ] + }, + { + "id": "4047f251c21a475abb49518e0fa6fa9e_92887f8ce86e45a2ab8d417c5c39aef2_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402134112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402134104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402134120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402134137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402134147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402134127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, brake gently to a stop, decelerate gradually without braking, or change to the left lane." + } + ] + }, + { + "id": "4047f251c21a475abb49518e0fa6fa9e_92887f8ce86e45a2ab8d417c5c39aef2_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402134112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402134104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402134120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402134137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402134147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402134127893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_423ad65258ca49cb9473116df04c6ffd_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731395162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731395154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731395170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731395187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731395197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731395178113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a silver sedan to the front left of the ego vehicle, a silver sedan to the back of the ego vehicle, a pedestrian wearing a black shirt to the front of the ego vehicle, a white sedan car to the front of the ego vehicle, a black sedan to the back right of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are , , , , , and ." + } + ] + }, + { + "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_423ad65258ca49cb9473116df04c6ffd_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731395162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731395154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731395170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731395187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731395197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731395178113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_423ad65258ca49cb9473116df04c6ffd_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731395162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731395154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731395170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731395187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731395197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731395178113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_423ad65258ca49cb9473116df04c6ffd_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731395162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731395154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731395170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731395187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731395197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731395178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability." + } + ] + }, + { + "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_423ad65258ca49cb9473116df04c6ffd_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731395162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731395154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731395170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731395187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731395197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731395178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Sharp left turn." + } + ] + }, + { + "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_423ad65258ca49cb9473116df04c6ffd_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731395162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731395154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731395170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731395187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731395197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731395178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "fd2d419d4cf84a2d84922b9b7d2cea4d_423ad65258ca49cb9473116df04c6ffd_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731395162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731395154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731395170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731395187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731395197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731395178113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly." + } + ] + }, + { + "id": "762e6aac0d6f4c1b9b0286ab4b2da654_025c656847f94b09baa7648ca5d70cc8_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153252762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153252754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153252770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153252787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153252797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153252778113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black car to the back left of the ego vehicle, a blue SUV to the front left of the ego vehicle, a white SUV to the back of the ego vehicle, a white pickup truck to the front of the ego vehicle, and a white van to the front of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "762e6aac0d6f4c1b9b0286ab4b2da654_025c656847f94b09baa7648ca5d70cc8_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153252762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153252754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153252770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153252787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153252797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153252778113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "762e6aac0d6f4c1b9b0286ab4b2da654_025c656847f94b09baa7648ca5d70cc8_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153252762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153252754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153252770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153252787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153252797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153252778113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, and the probability is high." + } + ] + }, + { + "id": "762e6aac0d6f4c1b9b0286ab4b2da654_025c656847f94b09baa7648ca5d70cc8_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153252762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153252754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153252770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153252787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153252797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153252778113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Slight right turn." + } + ] + }, + { + "id": "762e6aac0d6f4c1b9b0286ab4b2da654_025c656847f94b09baa7648ca5d70cc8_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153252762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153252754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153252770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153252787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153252797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153252778113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking, accelerate, and go ahead." + } + ] + }, + { + "id": "762e6aac0d6f4c1b9b0286ab4b2da654_025c656847f94b09baa7648ca5d70cc8_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153252762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153252754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153252770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153252787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153252797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153252778113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." + } + ] + }, + { + "id": "fc9068b303e448a6bbcefd37204386a9_a3020e9594c04d8cbe448e06a0c699d1_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662160512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662160504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662160520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662160537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662160547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662160527899.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a pedestrian wearing black pants to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a green bus to the front of the ego vehicle, and a white arrow to the front of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "fc9068b303e448a6bbcefd37204386a9_a3020e9594c04d8cbe448e06a0c699d1_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662160512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662160504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662160520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662160537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662160547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662160527899.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "fc9068b303e448a6bbcefd37204386a9_a3020e9594c04d8cbe448e06a0c699d1_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662160512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662160504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662160520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662160537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662160547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662160527899.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "fc9068b303e448a6bbcefd37204386a9_a3020e9594c04d8cbe448e06a0c699d1_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662160512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662160504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662160520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662160537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662160547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662160527899.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is to maintain a safe distance, which is high." + } + ] + }, + { + "id": "fc9068b303e448a6bbcefd37204386a9_a3020e9594c04d8cbe448e06a0c699d1_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662160512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662160504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662160520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662160537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662160547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662160527899.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Moderate left turn." + } + ] + }, + { + "id": "fc9068b303e448a6bbcefd37204386a9_a3020e9594c04d8cbe448e06a0c699d1_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662160512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662160504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662160520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662160537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662160547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662160527899.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking, and turn left." + } + ] + }, + { + "id": "fc9068b303e448a6bbcefd37204386a9_a3020e9594c04d8cbe448e06a0c699d1_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662160512460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662160504844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662160520339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662160537525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662160547423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662160527899.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving with normal speed." + } + ] + }, + { + "id": "96a410b8fe5e4b57bf69b844bfd4d28c_241f9a5a65504fa0b728bb030077fc29_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289732512404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289732504799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289732520482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289732537558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289732547405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289732528113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white sedan to the front of the ego vehicle, a gray pedestrian to the back right of the ego vehicle, a black sedan to the front of the ego vehicle, and a black sedan to the front left of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "96a410b8fe5e4b57bf69b844bfd4d28c_241f9a5a65504fa0b728bb030077fc29_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289732512404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289732504799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289732520482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289732537558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289732547405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289732528113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "96a410b8fe5e4b57bf69b844bfd4d28c_241f9a5a65504fa0b728bb030077fc29_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289732512404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289732504799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289732520482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289732537558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289732547405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289732528113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "96a410b8fe5e4b57bf69b844bfd4d28c_241f9a5a65504fa0b728bb030077fc29_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289732512404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289732504799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289732520482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289732537558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289732547405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289732528113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "96a410b8fe5e4b57bf69b844bfd4d28c_241f9a5a65504fa0b728bb030077fc29_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289732512404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289732504799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289732520482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289732537558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289732547405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289732528113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "No such action will lead to a collision." + } + ] + }, + { + "id": "96a410b8fe5e4b57bf69b844bfd4d28c_241f9a5a65504fa0b728bb030077fc29_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289732512404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289732504799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289732520482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289732537558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289732547405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289732528113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right." + } + ] + }, + { + "id": "96a410b8fe5e4b57bf69b844bfd4d28c_241f9a5a65504fa0b728bb030077fc29_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289732512404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289732504799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289732520482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289732537558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289732547405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289732528113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is steering to the right. The ego vehicle is driving with normal speed." + } + ] + }, + { + "id": "a4bfab3710d4494aa3c9a443c1bf5573_b6b36b5e546644ffb5b6f80ee926070f_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845538162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845538154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845538170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845538187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845538197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845538177893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a person wearing a red top and gray shorts to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a person wearing black clothes to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "a4bfab3710d4494aa3c9a443c1bf5573_b6b36b5e546644ffb5b6f80ee926070f_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845538162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845538154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845538170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845538187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845538197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845538177893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "a4bfab3710d4494aa3c9a443c1bf5573_b6b36b5e546644ffb5b6f80ee926070f_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845538162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845538154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845538170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845538187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845538197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845538177893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly notice that ; the object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that ; the object is going ahead, so the ego vehicle should also keep going ahead at the same speed. Thirdly, notice that ; the object is going ahead, so the ego vehicle should continue going ahead at the same speed." + } + ] + }, + { + "id": "a4bfab3710d4494aa3c9a443c1bf5573_b6b36b5e546644ffb5b6f80ee926070f_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845538162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845538154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845538170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845538187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845538197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845538177893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "a4bfab3710d4494aa3c9a443c1bf5573_b6b36b5e546644ffb5b6f80ee926070f_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845538162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845538154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845538170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845538187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845538197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845538177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is to avoid a collision, which has a high probability." + } + ] + }, + { + "id": "a4bfab3710d4494aa3c9a443c1bf5573_b6b36b5e546644ffb5b6f80ee926070f_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845538162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845538154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845538170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845538187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845538197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845538177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Slight right turn." + } + ] + }, + { + "id": "a4bfab3710d4494aa3c9a443c1bf5573_b6b36b5e546644ffb5b6f80ee926070f_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845538162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845538154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845538170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845538187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845538197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845538177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "a4bfab3710d4494aa3c9a443c1bf5573_b6b36b5e546644ffb5b6f80ee926070f_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845538162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845538154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845538170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845538187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845538197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845538177893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "797700339b014fb6aa61c1ea3778d587_b1ce80f4a5a24770a0a6b89d50bde95a_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194175112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194175104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194175120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194175137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194175147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194175127893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a yellow and white sedan to the back of the ego vehicle, a black car to the front right of the ego vehicle, a black sedan car to the back right of the ego vehicle, and a blue and white road sign to the back right of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "797700339b014fb6aa61c1ea3778d587_b1ce80f4a5a24770a0a6b89d50bde95a_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194175112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194175104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194175120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194175137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194175147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194175127893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "797700339b014fb6aa61c1ea3778d587_b1ce80f4a5a24770a0a6b89d50bde95a_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194175112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194175104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194175120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194175137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194175147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194175127893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "797700339b014fb6aa61c1ea3778d587_b1ce80f4a5a24770a0a6b89d50bde95a_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194175112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194175104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194175120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194175137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194175147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194175127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to remain stationary; the reason is that there is no safety issue. The probability is high." + } + ] + }, + { + "id": "797700339b014fb6aa61c1ea3778d587_b1ce80f4a5a24770a0a6b89d50bde95a_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194175112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194175104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194175120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194175137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194175147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194175127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Back up." + } + ] + }, + { + "id": "797700339b014fb6aa61c1ea3778d587_b1ce80f4a5a24770a0a6b89d50bde95a_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194175112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194175104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194175120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194175137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194175147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194175127893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Brake gently to a stop, slightly offset to the left, and brake suddenly." + } + ] + }, + { + "id": "797700339b014fb6aa61c1ea3778d587_b1ce80f4a5a24770a0a6b89d50bde95a_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194175112460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194175104844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194175120339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194175137525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194175147423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194175127893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "d987908d74794138b07d1237887bb441_9e3259a368c74ac3a237e5ee578c5099_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731232762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731232754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731232770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731232787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731232797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731232778113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white truck to the front of the ego vehicle, a white bus to the front of the ego vehicle, a pedestrian wearing red clothes to the front of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "d987908d74794138b07d1237887bb441_9e3259a368c74ac3a237e5ee578c5099_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731232762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731232754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731232770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731232787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731232797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731232778113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "d987908d74794138b07d1237887bb441_9e3259a368c74ac3a237e5ee578c5099_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731232762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731232754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731232770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731232787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731232797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731232778113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "d987908d74794138b07d1237887bb441_9e3259a368c74ac3a237e5ee578c5099_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731232762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731232754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731232770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731232787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731232797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731232778113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high." + } + ] + }, + { + "id": "d987908d74794138b07d1237887bb441_9e3259a368c74ac3a237e5ee578c5099_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731232762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731232754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731232770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731232787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731232797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731232778113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerating and going straight." + } + ] + }, + { + "id": "d987908d74794138b07d1237887bb441_9e3259a368c74ac3a237e5ee578c5099_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731232762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731232754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731232770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731232787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731232797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731232778113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking, slightly offset to the left, or slightly offset to the right." + } + ] + }, + { + "id": "d987908d74794138b07d1237887bb441_9e3259a368c74ac3a237e5ee578c5099_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731232762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731232754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731232770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731232787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731232797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731232778113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving with normal speed." + } + ] + }, + { + "id": "d3c39710e9da42f48b605824ce2a1927_43adecbafa4a49efb4a7614981b71f7b_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801672162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801672154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801672170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801672187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801672197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801672177893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black car to the front of the ego vehicle, a white and red bus to the back of the ego vehicle, a silver sedan to the front left of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "d3c39710e9da42f48b605824ce2a1927_43adecbafa4a49efb4a7614981b71f7b_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801672162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801672154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801672170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801672187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801672197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801672177893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "d3c39710e9da42f48b605824ce2a1927_43adecbafa4a49efb4a7614981b71f7b_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801672162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801672154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801672170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801672187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801672197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801672177893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "d3c39710e9da42f48b605824ce2a1927_43adecbafa4a49efb4a7614981b71f7b_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801672162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801672154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801672170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801672187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801672197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801672177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to remain stationary because there is no safety issue. The probability of this action is high." + } + ] + }, + { + "id": "d3c39710e9da42f48b605824ce2a1927_43adecbafa4a49efb4a7614981b71f7b_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801672162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801672154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801672170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801672187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801672197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801672177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Back up." + } + ] + }, + { + "id": "d3c39710e9da42f48b605824ce2a1927_43adecbafa4a49efb4a7614981b71f7b_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801672162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801672154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801672170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801672187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801672197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801672177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Slightly offset to the left and slightly offset to the right are safe actions to take for the ego vehicle in this scenario." + } + ] + }, + { + "id": "d3c39710e9da42f48b605824ce2a1927_43adecbafa4a49efb4a7614981b71f7b_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801672162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801672154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801672170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801672187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801672197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801672177893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white truck to the front left of the ego vehicle, a blue sedan to the back left of the ego vehicle, a white truck to the back of the ego vehicle, a silver sedan to the front of the ego vehicle, and a pedestrian to the back right of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision, which has a high probability." + } + ] + }, + { + "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Slight left turn." + } + ] + }, + { + "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Slightly offset to the left, brake suddenly." + } + ] + }, + { + "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_032ffb0e76f14592ac5de83a76ec2356_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582778762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582778754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582778770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582778787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582778797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582778778113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black SUV to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a black sedan to the back right of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_032ffb0e76f14592ac5de83a76ec2356_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582778762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582778754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582778770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582778787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582778797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582778778113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_032ffb0e76f14592ac5de83a76ec2356_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582778762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582778754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582778770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582778787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582778797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582778778113.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice . The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice . The object is stationary, so the ego vehicle should continue going ahead at the same speed." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_032ffb0e76f14592ac5de83a76ec2356_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582778762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582778754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582778770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582778787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582778797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582778778113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_032ffb0e76f14592ac5de83a76ec2356_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582778762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582778754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582778770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582778787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582778797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582778778113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is to follow the traffic rules, high probability." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_032ffb0e76f14592ac5de83a76ec2356_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582778762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582778754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582778770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582778787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582778797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582778778113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Changing to the left lane can lead to a collision with ." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_032ffb0e76f14592ac5de83a76ec2356_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582778762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582778754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582778770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582778787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582778797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582778778113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking, and change to the left lane." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_032ffb0e76f14592ac5de83a76ec2356_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582778762404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582778754799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582778770482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582778787558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582778797405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582778778113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_1cd167a9357b431598be572c2b8859bc_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582787612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582787604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582787620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582787637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582787647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582787628113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white sedan car to the back left of the ego vehicle, a white sedan to the front of the ego vehicle, a black pickup truck to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_1cd167a9357b431598be572c2b8859bc_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582787612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582787604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582787620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582787637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582787647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582787628113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_1cd167a9357b431598be572c2b8859bc_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582787612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582787604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582787620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582787637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582787647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582787628113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_1cd167a9357b431598be572c2b8859bc_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582787612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582787604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582787620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582787637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582787647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582787628113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_1cd167a9357b431598be572c2b8859bc_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582787612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582787604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582787620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582787637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582787647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582787628113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "No action taken by the ego vehicle will lead to a collision with ." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_1cd167a9357b431598be572c2b8859bc_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582787612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582787604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582787620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582787637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582787647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582787628113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, accelerate, and proceed." + } + ] + }, + { + "id": "aa45d94630be481787f20121ce89a605_1cd167a9357b431598be572c2b8859bc_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582787612404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582787604799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582787620482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582787637558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582787647405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582787628113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "9a81caa3d5134d7f87ee4786ccef68f7_ab679f5fb0924fcb9b4049f7a3a27dfb_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402282162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402282154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402282170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402282187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402282197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402282177893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a pedestrian wearing a black shirt to the back right of the ego vehicle, a white truck to the front of the ego vehicle, a pedestrian wearing a purple shirt to the front of the ego vehicle, a woman in white blouse to the back left of the ego vehicle, and a pedestrian wearing a black shirt to the front right of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "9a81caa3d5134d7f87ee4786ccef68f7_ab679f5fb0924fcb9b4049f7a3a27dfb_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402282162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402282154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402282170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402282187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402282197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402282177893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "9a81caa3d5134d7f87ee4786ccef68f7_ab679f5fb0924fcb9b4049f7a3a27dfb_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402282162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402282154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402282170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402282187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402282197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402282177893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "9a81caa3d5134d7f87ee4786ccef68f7_ab679f5fb0924fcb9b4049f7a3a27dfb_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402282162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402282154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402282170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402282187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402282197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402282177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability of this action is high." + } + ] + }, + { + "id": "9a81caa3d5134d7f87ee4786ccef68f7_ab679f5fb0924fcb9b4049f7a3a27dfb_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402282162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402282154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402282170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402282187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402282197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402282177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Back up." + } + ] + }, + { + "id": "9a81caa3d5134d7f87ee4786ccef68f7_ab679f5fb0924fcb9b4049f7a3a27dfb_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402282162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402282154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402282170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402282187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402282197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402282177893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking, and turn left." + } + ] + }, + { + "id": "9a81caa3d5134d7f87ee4786ccef68f7_ab679f5fb0924fcb9b4049f7a3a27dfb_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402282162460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402282154844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402282170339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402282187525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402282197423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402282177893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "38b3010304734913bb148d17ebbc352b_39c6d2c3479340da869f6de98be2fbf3_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296461112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296461104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296461120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296461137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296461147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296461128113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a white commercial vehicle to the front left of the ego vehicle, a pedestrian holding an umbrella to the front right of the ego vehicle, a white truck to the front right of the ego vehicle, a yellow light to the front of the ego vehicle, and a white small car to the front left of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "38b3010304734913bb148d17ebbc352b_39c6d2c3479340da869f6de98be2fbf3_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296461112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296461104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296461120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296461137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296461147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296461128113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "38b3010304734913bb148d17ebbc352b_39c6d2c3479340da869f6de98be2fbf3_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296461112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296461104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296461120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296461137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296461147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296461128113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "38b3010304734913bb148d17ebbc352b_39c6d2c3479340da869f6de98be2fbf3_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296461112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296461104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296461120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296461137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296461147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296461128113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to turn right because there is no safety issue. The probability is high." + } + ] + }, + { + "id": "38b3010304734913bb148d17ebbc352b_39c6d2c3479340da869f6de98be2fbf3_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296461112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296461104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296461120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296461137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296461147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296461128113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Moderate left turn." + } + ] + }, + { + "id": "38b3010304734913bb148d17ebbc352b_39c6d2c3479340da869f6de98be2fbf3_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296461112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296461104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296461120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296461137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296461147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296461128113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Turn right, decelerate gradually without braking, and brake gently to a stop." + } + ] + }, + { + "id": "38b3010304734913bb148d17ebbc352b_39c6d2c3479340da869f6de98be2fbf3_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296461112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296461104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296461120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296461137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296461147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296461128113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is steering to the right. The ego vehicle is driving slowly." + } + ] + }, + { + "id": "c0cb50847c3949a0b4baf2e200ac897c_606d5e292a0043c388c4d81b7f71d84b_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153530662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153530654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153530670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153530687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153530697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153530678113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a people crossing the road to the front of the ego vehicle, a silver business car to the front right of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "c0cb50847c3949a0b4baf2e200ac897c_606d5e292a0043c388c4d81b7f71d84b_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153530662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153530654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153530670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153530687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153530697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153530678113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "c0cb50847c3949a0b4baf2e200ac897c_606d5e292a0043c388c4d81b7f71d84b_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153530662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153530654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153530670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153530687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153530697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153530678113.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . It is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice . It is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice . It is going ahead, so the ego vehicle should continue going ahead at the same speed." + } + ] + }, + { + "id": "c0cb50847c3949a0b4baf2e200ac897c_606d5e292a0043c388c4d81b7f71d84b_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153530662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153530654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153530670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153530687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153530697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153530678113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "c0cb50847c3949a0b4baf2e200ac897c_606d5e292a0043c388c4d81b7f71d84b_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153530662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153530654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153530670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153530687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153530697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153530678113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "c0cb50847c3949a0b4baf2e200ac897c_606d5e292a0043c388c4d81b7f71d84b_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153530662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153530654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153530670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153530687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153530697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153530678113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Sharp left turn." + } + ] + }, + { + "id": "c0cb50847c3949a0b4baf2e200ac897c_606d5e292a0043c388c4d81b7f71d84b_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153530662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153530654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153530670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153530687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153530697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153530678113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed and turn left." + } + ] + }, + { + "id": "c0cb50847c3949a0b4baf2e200ac897c_606d5e292a0043c388c4d81b7f71d84b_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153530662404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153530654799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153530670482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153530687558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153530697405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153530678113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is steering to the left. The ego vehicle is driving slowly." + } + ] + }, + { + "id": "dbfd4af0e0d744858e796ec69826e673_1680f76438bd4414846d77ab394dea34_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731316112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731316104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731316120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731316137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731316147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731316128113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a pedestrian wearing jeans to the front right of the ego vehicle, a black business car to the front left of the ego vehicle, a white sedan car to the back of the ego vehicle, a white business car to the back of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "dbfd4af0e0d744858e796ec69826e673_1680f76438bd4414846d77ab394dea34_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731316112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731316104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731316120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731316137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731316147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731316128113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "dbfd4af0e0d744858e796ec69826e673_1680f76438bd4414846d77ab394dea34_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731316112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731316104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731316120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731316137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731316147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731316128113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "dbfd4af0e0d744858e796ec69826e673_1680f76438bd4414846d77ab394dea34_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731316112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731316104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731316120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731316137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731316147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731316128113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability of this action is high." + } + ] + }, + { + "id": "dbfd4af0e0d744858e796ec69826e673_1680f76438bd4414846d77ab394dea34_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731316112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731316104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731316120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731316137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731316147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731316128113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "No such action will lead to a collision." + } + ] + }, + { + "id": "dbfd4af0e0d744858e796ec69826e673_1680f76438bd4414846d77ab394dea34_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731316112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731316104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731316120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731316137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731316147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731316128113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking." + } + ] + }, + { + "id": "dbfd4af0e0d744858e796ec69826e673_1680f76438bd4414846d77ab394dea34_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731316112404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731316104799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731316120482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731316137558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731316147405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731316128113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_db13ac2e42264f1aa5a1f625f4cbe354_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281213262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281213254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281213270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281213287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281213297432.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281213277893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a gray SUV to the front of the ego vehicle, a pedestrian in black clothes to the front left of the ego vehicle, and a white arrow to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_db13ac2e42264f1aa5a1f625f4cbe354_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281213262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281213254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281213270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281213287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281213297432.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281213277893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_db13ac2e42264f1aa5a1f625f4cbe354_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281213262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281213254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281213270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281213287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281213297432.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281213277893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is stationary, so the ego vehicle should slightly offset to the right while maneuvering. Secondly, notice that . The object is a traffic sign, so the ego vehicle should slow down and proceed. Thirdly, notice that . The object is going ahead, so the ego vehicle should continue going ahead at the same speed." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_db13ac2e42264f1aa5a1f625f4cbe354_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281213262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281213254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281213270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281213287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281213297432.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281213277893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_db13ac2e42264f1aa5a1f625f4cbe354_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281213262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281213254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281213270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281213287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281213297432.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281213277893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to slightly offset to the right in maneuvering. The reason is to avoid a collision, which is highly probable." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_db13ac2e42264f1aa5a1f625f4cbe354_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281213262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281213254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281213270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281213287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281213297432.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281213277893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Accelerating and going straight." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_db13ac2e42264f1aa5a1f625f4cbe354_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281213262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281213254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281213270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281213287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281213297432.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281213277893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, decelerate gradually without braking, and slightly offset to the right." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_db13ac2e42264f1aa5a1f625f4cbe354_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281213262460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281213254844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281213270339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281213287525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281213297432.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281213277893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving slowly." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a blue sedan to the back of the ego vehicle, a blue sedan to the front right of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . The object is going ahead, so the ego vehicle should keep stationary. Secondly, notice . The object is stationary, so the ego vehicle should keep stationary. Thirdly, notice . The object is going ahead, so the ego vehicle should keep stationary." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to remain stationary, the reason is to avoid a collision, high." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Back up." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Brake gently to a stop or decelerate gradually without braking." + } + ] + }, + { + "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "6520b5f0d568414c973f791b30ee1548_a3cfa2ae8cff49eba4f9133706010c86_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886170662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886170654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886170670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886170687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886170697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886170677893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black car to the back of the ego vehicle, a black car to the front of the ego vehicle, a red car to the front right of the ego vehicle, a white sedan to the back of the ego vehicle, a people preparing to cross the road to the front of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are , , , , , and ." + } + ] + }, + { + "id": "6520b5f0d568414c973f791b30ee1548_a3cfa2ae8cff49eba4f9133706010c86_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886170662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886170654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886170670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886170687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886170697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886170677893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "6520b5f0d568414c973f791b30ee1548_a3cfa2ae8cff49eba4f9133706010c86_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886170662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886170654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886170670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886170687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886170697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886170677893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "6520b5f0d568414c973f791b30ee1548_a3cfa2ae8cff49eba4f9133706010c86_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886170662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886170654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886170670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886170687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886170697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886170677893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep stationary because there is no safety issue, with a high probability." + } + ] + }, + { + "id": "6520b5f0d568414c973f791b30ee1548_a3cfa2ae8cff49eba4f9133706010c86_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886170662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886170654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886170670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886170687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886170697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886170677893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "None." + } + ] + }, + { + "id": "6520b5f0d568414c973f791b30ee1548_a3cfa2ae8cff49eba4f9133706010c86_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886170662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886170654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886170670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886170687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886170697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886170677893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Decelerate gradually without braking, and brake gently to a stop." + } + ] + }, + { + "id": "6520b5f0d568414c973f791b30ee1548_a3cfa2ae8cff49eba4f9133706010c86_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886170662460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886170654844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886170670339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886170687525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886170697423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886170677893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "c7604a179ea94e45857ec2c16416e5ad_439ad4e3452b4a3da0f9010951e1f91b_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659471912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659471904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659471920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659471937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659471947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659471928113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a red and white truck to the front left of the ego vehicle, a blue sedan to the back of the ego vehicle, and a person running in white clothes to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "c7604a179ea94e45857ec2c16416e5ad_439ad4e3452b4a3da0f9010951e1f91b_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659471912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659471904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659471920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659471937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659471947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659471928113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "c7604a179ea94e45857ec2c16416e5ad_439ad4e3452b4a3da0f9010951e1f91b_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659471912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659471904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659471920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659471937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659471947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659471928113.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice . The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice . The object is going ahead, so the ego vehicle should continue going ahead at the same speed." + } + ] + }, + { + "id": "c7604a179ea94e45857ec2c16416e5ad_439ad4e3452b4a3da0f9010951e1f91b_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659471912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659471904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659471920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659471937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659471947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659471928113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "c7604a179ea94e45857ec2c16416e5ad_439ad4e3452b4a3da0f9010951e1f91b_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659471912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659471904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659471920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659471937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659471947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659471928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, with a high probability." + } + ] + }, + { + "id": "c7604a179ea94e45857ec2c16416e5ad_439ad4e3452b4a3da0f9010951e1f91b_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659471912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659471904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659471920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659471937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659471947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659471928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Sharp left turn." + } + ] + }, + { + "id": "c7604a179ea94e45857ec2c16416e5ad_439ad4e3452b4a3da0f9010951e1f91b_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659471912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659471904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659471920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659471937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659471947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659471928113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, slightly offset to the left, or slightly offset to the right." + } + ] + }, + { + "id": "c7604a179ea94e45857ec2c16416e5ad_439ad4e3452b4a3da0f9010951e1f91b_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659471912404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659471904799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659471920482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659471937558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659471947405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659471928113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving fast." + } + ] + }, + { + "id": "5e30d846d2344ec2addfb664799d1899_b206c633cdc340618a595a02cd6902eb_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621841162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621841154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621841170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621841187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621841197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621841178113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a black sedan to the back of the ego vehicle, a black SUV to the front left of the ego vehicle, and a red pickup truck to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "5e30d846d2344ec2addfb664799d1899_b206c633cdc340618a595a02cd6902eb_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621841162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621841154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621841170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621841187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621841197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621841178113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "5e30d846d2344ec2addfb664799d1899_b206c633cdc340618a595a02cd6902eb_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621841162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621841154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621841170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621841187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621841197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621841178113.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice . It is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice . It is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice . It is going ahead, so the ego vehicle should keep going ahead at the same speed." + } + ] + }, + { + "id": "5e30d846d2344ec2addfb664799d1899_b206c633cdc340618a595a02cd6902eb_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621841162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621841154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621841170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621841187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621841197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621841178113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "5e30d846d2344ec2addfb664799d1899_b206c633cdc340618a595a02cd6902eb_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621841162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621841154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621841170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621841187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621841197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621841178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high." + } + ] + }, + { + "id": "5e30d846d2344ec2addfb664799d1899_b206c633cdc340618a595a02cd6902eb_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621841162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621841154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621841170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621841187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621841197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621841178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Back up." + } + ] + }, + { + "id": "5e30d846d2344ec2addfb664799d1899_b206c633cdc340618a595a02cd6902eb_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621841162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621841154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621841170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621841187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621841197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621841178113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Keep going at the same speed, change to the right lane, brake gently to a stop, decelerate gradually without braking, slightly offset to the right, and turn right." + } + ] + }, + { + "id": "5e30d846d2344ec2addfb664799d1899_b206c633cdc340618a595a02cd6902eb_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621841162404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621841154799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621841170482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621841187558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621841197405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621841178113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving very fast." + } + ] + }, + { + "id": "1623e7fab5174f2a84cf1b539233e3a6_02561ad1299d45f0981906daa0cffc51_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656617262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656617254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656617270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656617287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656617297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656617278113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a person wearing a white shirt to the front left of the ego vehicle, a white sedan car to the front of the ego vehicle, a black car to the back of the ego vehicle, a white SUV to the front left of the ego vehicle, and a white zebra crossing to the front of the ego vehicle. The IDs of these objects are , , , , and ." + } + ] + }, + { + "id": "1623e7fab5174f2a84cf1b539233e3a6_02561ad1299d45f0981906daa0cffc51_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656617262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656617254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656617270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656617287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656617297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656617278113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "1623e7fab5174f2a84cf1b539233e3a6_02561ad1299d45f0981906daa0cffc51_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656617262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656617254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656617270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656617287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656617297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656617278113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "1623e7fab5174f2a84cf1b539233e3a6_02561ad1299d45f0981906daa0cffc51_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656617262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656617254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656617270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656617287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656617297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656617278113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to decelerate gradually without braking. The reason is that there is no safety issue. The probability of this action is high." + } + ] + }, + { + "id": "1623e7fab5174f2a84cf1b539233e3a6_02561ad1299d45f0981906daa0cffc51_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656617262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656617254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656617270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656617287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656617297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656617278113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Sharp left turn." + } + ] + }, + { + "id": "1623e7fab5174f2a84cf1b539233e3a6_02561ad1299d45f0981906daa0cffc51_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656617262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656617254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656617270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656617287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656617297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656617278113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Brake gently to a stop, decelerate gradually without braking." + } + ] + }, + { + "id": "1623e7fab5174f2a84cf1b539233e3a6_02561ad1299d45f0981906daa0cffc51_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656617262404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656617254799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656617270482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656617287558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656617297405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656617278113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving slowly." + } + ] + }, + { + "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There are pedestrians on the roadside to the front left of the ego vehicle, a white sedan to the back of the ego vehicle, and pedestrians on the road to the front of the ego vehicle. The IDs of these objects are , , and ." + } + ] + }, + { + "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" + ], + "tag": 3, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?" + }, + { + "from": "gpt", + "value": "Firstly, notice that . The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice that . The object is going ahead, so the ego vehicle should slow down and go ahead. Thirdly, notice that . The object is going ahead, so the ego vehicle should keep going ahead at the same speed." + } + ] + }, + { + "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision. The probability of this action is high." + } + ] + }, + { + "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Sharp left turn." + } + ] + }, + { + "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Brake gently to a stop, slightly offset to the right." + } + ] + }, + { + "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_7", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", + "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + }, + { + "id": "fb20ca9935c4439e8125ba830abcf9dc_0c8a313575f944769ce61e12345323dd_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573492862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573492854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573492870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573492887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573492897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573492878113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a yellow and white bus to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a walking person to the front right of the ego vehicle, a black car to the front of the ego vehicle, a gray sedan to the front of the ego vehicle, and a gray sedan to the back of the ego vehicle. The IDs of these objects are , , , , , and ." + } + ] + }, + { + "id": "fb20ca9935c4439e8125ba830abcf9dc_0c8a313575f944769ce61e12345323dd_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573492862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573492854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573492870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573492887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573492897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573492878113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "fb20ca9935c4439e8125ba830abcf9dc_0c8a313575f944769ce61e12345323dd_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573492862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573492854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573492870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573492887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573492897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573492878113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "No." + } + ] + }, + { + "id": "fb20ca9935c4439e8125ba830abcf9dc_0c8a313575f944769ce61e12345323dd_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573492862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573492854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573492870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573492887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573492897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573492878113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high." + } + ] + }, + { + "id": "fb20ca9935c4439e8125ba830abcf9dc_0c8a313575f944769ce61e12345323dd_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573492862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573492854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573492870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573492887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573492897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573492878113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Moderate left turn." + } + ] + }, + { + "id": "fb20ca9935c4439e8125ba830abcf9dc_0c8a313575f944769ce61e12345323dd_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573492862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573492854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573492870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573492887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573492897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573492878113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Decelerate gradually without braking and continue at the same speed." + } + ] + }, + { + "id": "fb20ca9935c4439e8125ba830abcf9dc_0c8a313575f944769ce61e12345323dd_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573492862404.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573492854799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573492870482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573492887558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573492897405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573492878113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is driving slowly." + } + ] + }, + { + "id": "36b7b02f0f034f0595e3437a85554151_4ee9bb3bc42d4451abe13fdd39666c80_0", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867310412413.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867310404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867310420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867310437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867310447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867310428113.jpg" + ], + "tag": 2, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." + }, + { + "from": "gpt", + "value": "There is a red light to the front of the ego vehicle, a white SUV to the back of the ego vehicle, a black car to the front of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are , , , and ." + } + ] + }, + { + "id": "36b7b02f0f034f0595e3437a85554151_4ee9bb3bc42d4451abe13fdd39666c80_1", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867310412413.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867310404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867310420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867310437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867310447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867310428113.jpg" + ], + "tag": 0, + "task": "perception", + "conversations": [ + { + "from": "human", + "value": "What is the moving status of object ?" + }, + { + "from": "gpt", + "value": "Going ahead." + } + ] + }, + { + "id": "36b7b02f0f034f0595e3437a85554151_4ee9bb3bc42d4451abe13fdd39666c80_2", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867310412413.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867310404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867310420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867310437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867310447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867310428113.jpg" + ], + "tag": 0, + "task": "prediction", + "conversations": [ + { + "from": "human", + "value": "Is a traffic sign or a road barrier?" + }, + { + "from": "gpt", + "value": "Yes." + } + ] + }, + { + "id": "36b7b02f0f034f0595e3437a85554151_4ee9bb3bc42d4451abe13fdd39666c80_3", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867310412413.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867310404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867310420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867310437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867310447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867310428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" + }, + { + "from": "gpt", + "value": "The action is to remain stationary, the reason being to avoid a collision, with a high probability." + } + ] + }, + { + "id": "36b7b02f0f034f0595e3437a85554151_4ee9bb3bc42d4451abe13fdd39666c80_4", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867310412413.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867310404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867310420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867310437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867310447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867310428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "What actions taken by the ego vehicle can lead to a collision with ?" + }, + { + "from": "gpt", + "value": "Back up." + } + ] + }, + { + "id": "36b7b02f0f034f0595e3437a85554151_4ee9bb3bc42d4451abe13fdd39666c80_5", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867310412413.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867310404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867310420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867310437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867310447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867310428113.jpg" + ], + "tag": 1, + "task": "planning", + "conversations": [ + { + "from": "human", + "value": "In this scenario, what are safe actions to take for the ego vehicle?" + }, + { + "from": "gpt", + "value": "Brake gently to a stop, slightly offset to the right." + } + ] + }, + { + "id": "36b7b02f0f034f0595e3437a85554151_4ee9bb3bc42d4451abe13fdd39666c80_6", + "image": [ + "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867310412413.jpg", + "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867310404799.jpg", + "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867310420482.jpg", + "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867310437558.jpg", + "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867310447405.jpg", + "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867310428113.jpg" + ], + "tag": 0, + "task": "behavior", + "conversations": [ + { + "from": "human", + "value": "Predict the behavior of the ego vehicle." + }, + { + "from": "gpt", + "value": "The ego vehicle is going straight. The ego vehicle is not moving." + } + ] + } +] \ No newline at end of file